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ICRA
2003
IEEE

Identification of the dynamic parameters of the orthoglide

13 years 9 months ago
Identification of the dynamic parameters of the orthoglide
This paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. The dynamic identification model is based on the inverse dynamic model, which is linear in the parameters. The model is computed in a closed form in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The base inertial parameters of the robot, which constitute the identifiable parameters, are given.
Sylvain Guegan, Wisama Khalil, Philippe Lemoine
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Sylvain Guegan, Wisama Khalil, Philippe Lemoine
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