Abstract
Aiming at inertial and viscous parameter identification for the Stewart manipulator regardless of the influence of Coulomb friction, a simple and effective dynamical parameter identification method based on wavelet transform and joint velocity analysis is proposed in this paper. Compared with previously known identification methods, the advantages of the new approach are that (1) the excitation trajectory is easy to design, and (2) it can not only identify the inertial matrix, but also the viscous matrix accurately regardless of the influence of Coulomb friction. Comparison is made among the identification method proposed in this paper, another identification method proposed previously, and the true value calculated with a formula. The errors from results of different identification methods demonstrate that the method proposed in this paper shows great adaptability and accuracy.
Highlights
Parallel manipulators are becoming more and more interesting in the field of machine tools and robots due to their precision, stiffness, and dynamics [1,2,3,4,5]
A good result of the identification method with wavelet transform can still be achieved, with the maximum identification error being 5.8%, which shows excellent adaptability. This method is suitable for a parallel manipulator with Coulomb friction, especially for the relatively sophisticated manipulators that cannot achieve high-frequency sine motion
A very compact identification method is proposed in this paper, which can identify the inertial matrix and accurately determine the viscous matrix, regardless of the influence of Coulomb friction
Summary
Parallel manipulators are becoming more and more interesting in the field of machine tools and robots due to their precision, stiffness, and dynamics [1,2,3,4,5]. The multi-input multi-output system of the manipulator can be transformed into a set of single-input single-output systems along the modal direction by using modal space coordinate transformation It requires the precise inertial parameters and friction parameters to provide good performance [7]. Identification of the dynamic parameters of the Stewart manipulator is one of the most important issues in high-performance motion control. The identification method of structural parameters based on wavelet transform was widely used in the identification of time-varying or time-invariant structural dynamics because of its good identification accuracy and simple identification process [12,13,14]. 2. Dynamic Model of Stewart Manipulator and Analysis of the Identification Method Based on Fourier
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