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Conference Papers Year : 2023

Dynamic Parameter Identification for Cable-Driven Parallel Robots


This paper presents an initial work of identifying the dynamic parameters for cable-driven parallel robot (CDPR), CRAFT with a rigorous protocol. An orbital trajectory of the platform is designed in order to get a pure translation movement of the platform. This trajectory evolves in a plane and allows the identification of four dynamic parameters, the mass of the platform and the first three moments along the three main axes. The identification results obtained respectively from the data from the experimental measurements of the moving platform, and from the experimental measurements treated with the application of a semi-implicit homogeneous differentiator, show that in spite of the complexity of CRAFT an identification of all its essential dynamic parameters is possible. Moreover, in the long term, an online identification of CRAFT during handling tasks is envisaged.
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hal-04045150 , version 1 (27-03-2023)


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  • HAL Id : hal-04045150 , version 1


Tahir Rasheed, Loïc Michel, Stéphane Caro, Jean-Pierre Null Barbot, Yannick Aoustin. Dynamic Parameter Identification for Cable-Driven Parallel Robots. The Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023), Jun 2023, Nantes, France. ⟨hal-04045150⟩
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