An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

作者：Tian Tixian; Jiang Hongzhou^*; Tong Zhizhong; He Jingfeng; Huang Qitao

来源：Chinese Journal of Aeronautics, 2015, 28(2): 582-592.

DOI：10.1016/j.cja.2015.01.005

• Hydraulically
• Identification
• Inertial parameter
• Parallel manipulator
• Sinusoidal vibration

A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.

• 出版日期2015-4
• 单位哈尔滨工业大学