| Identification of the Dynamic Parameters of the Orthoglide (2003) | |||||||||||||||
Abstract | |||||||||||||||
| 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. | |||||||||||||||
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