Identification of dynamic parameters and coefficients of friction for 2 DOF planar parallel manipulators

Abstract

This paper presents a scheme for identification of dynamic parameters and coefficients of friction for 2-DOF planar parallel manipulators. First, dynamic model of the 2 DOF parallel robot is presented and modified to linear matrix form with respect to the vector of dynamic parameters and coefficients of friction. Then, a recursive scheme based on least mean square algorithm to identify the parameters is proposed. To verify the efficiency of the method, the identification method is applied in an experimental system of the 2 DOF parallel robot. The results show that the identified parameters bring about small tracking errors.