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Modelling and identification of rigid‐body dynamics of parallel kinematic structures
Author(s) -
Grotjahn Martin
Publication year - 2003
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200310047
Subject(s) - kinematics , identification (biology) , computer science , dimension (graph theory) , dynamics (music) , reduction (mathematics) , control theory (sociology) , estimation theory , algorithm , mathematics , artificial intelligence , classical mechanics , physics , geometry , botany , control (management) , acoustics , pure mathematics , biology
A new approach for modelling the dynamics of parallel kinematic (PKM) structures is presented in this paper. It leads to a formulation of the dynamic equations which is linear with respect to a dynamic parameter vector of minimal dimension. Thus, the equations can be directly used for parameter identi.cation by linear estimation techniques. The algorithm utilises Jourdain 's principle of virtual power which leads to very efficient resulting code. The parameter reduction is based on opening the kinematic loops so that analytic rules known from serial robots can be implemented. Additionally, a new approach for dynamic parameter identification is suggested. The application to modelling the PKM PaLiDa and identifying its gravitational parameters proves the capacity of the presented approaches.