An-Najah Staff

The information provided by robot manufacturers regarding the dynamic parameters of robotic systems (the inertial properties of the links and friction parameters at the kinematic joints) is limited and even nonexistent. For instance, friction parameters are generally not provided. Thus, it is necessary to develop efficient procedures for their measurement. The direct measurement of these parameters is not practical since it would imply disassembling the robot. On the other hand, obtaining these parameters from the CAD models has the disadvantage that some parts can not be modeled in full detail and parameters that depend on operational conditions, like friction, can not be determined. For these reasons, parameters identification has turned out to be a widely accepted technique for determining the dynamic parameters. This chapter provides an overview of parameters identification processes applied to parallel manipulators. Practical implementation issues are also considered. In addition, an approach that considers the identification problem as a nonlinear constrained optimization problem is presented. Moreover, an evaluation of the accuracy of the solution of parameters is also addressed.