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Sequential Physically Consistent Dynamic Parameter Identification in Parallel Robots
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DOI：10.1109/LRA.2026.3653379.png)
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Abstract
En 中文
Parallel robots have been widely applied because of their high stiffness and dynamic responsiveness. Advanced model-based control of such systems requires the accurate identification of dynamic parameters. This paper proposes a physically consistent dynamic parameter identification method enforced by a sequential identification procedure. Observable dynamic parameters in each actuator are first identified independently in sequence. These results are then incorporated as prior knowledge, represented as Gaussian distributions. A criterion considering sequential identification performance is also proposed to generate excitation trajectories. The experiments are conducted on a 3-degree-of-freedoms parallel robot of type 2RRU-1RRS. According to the experimental tests, the proposed method improves the accuracy of torque estimation even under insufficient excitation. It validates the effectiveness and robustness of the proposed method.
Keywords:
Parallel robots
calibration and identification
dynamics
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1.7K
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