Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter
Load is the main external disturbance of a parallel robot manipulator. This disturbance will cause dynamic coupling among different degrees of freedom and make heaps of model-based control methods difficult to apply. In order to compensate this disturbance, it is crucial to obtain an accurate dynami...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/8816374 |
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| _version_ | 1832554603228430336 |
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| author | Shijie Song Xiaolin Dai Zhangchao Huang Dawei Gong |
| author_facet | Shijie Song Xiaolin Dai Zhangchao Huang Dawei Gong |
| author_sort | Shijie Song |
| collection | DOAJ |
| description | Load is the main external disturbance of a parallel robot manipulator. This disturbance will cause dynamic coupling among different degrees of freedom and make heaps of model-based control methods difficult to apply. In order to compensate this disturbance, it is crucial to obtain an accurate dynamic model of load. However, in practice, the load is always uncertain and its dynamic parameters are arduous to know a priori. To cope with this problem, this paper proposes a novel and simple approach to identify the dynamic parameters of load. Firstly, the dynamic model of the parallel robot manipulator with uncertain load is established and the dynamic coupling caused by load is also analyzed. Then, according to the dynamic model, the excitation signal is designed and a weak nonlinear dynamic model is derived. Furthermore, the identification model is presented and the identification algorithm based on the extended Kalman filter is designed. Lastly, numerical simulation results, obtained using a six-degree-of-freedom Gough–Stewart parallel manipulator, demonstrate the good estimation performance of the proposed method. |
| format | Article |
| id | doaj-art-ec96cdfbd94b49c9944b21eb78a89feb |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-ec96cdfbd94b49c9944b21eb78a89feb2025-02-03T05:51:11ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/88163748816374Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman FilterShijie Song0Xiaolin Dai1Zhangchao Huang2Dawei Gong3School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaLoad is the main external disturbance of a parallel robot manipulator. This disturbance will cause dynamic coupling among different degrees of freedom and make heaps of model-based control methods difficult to apply. In order to compensate this disturbance, it is crucial to obtain an accurate dynamic model of load. However, in practice, the load is always uncertain and its dynamic parameters are arduous to know a priori. To cope with this problem, this paper proposes a novel and simple approach to identify the dynamic parameters of load. Firstly, the dynamic model of the parallel robot manipulator with uncertain load is established and the dynamic coupling caused by load is also analyzed. Then, according to the dynamic model, the excitation signal is designed and a weak nonlinear dynamic model is derived. Furthermore, the identification model is presented and the identification algorithm based on the extended Kalman filter is designed. Lastly, numerical simulation results, obtained using a six-degree-of-freedom Gough–Stewart parallel manipulator, demonstrate the good estimation performance of the proposed method.http://dx.doi.org/10.1155/2020/8816374 |
| spellingShingle | Shijie Song Xiaolin Dai Zhangchao Huang Dawei Gong Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter Complexity |
| title | Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter |
| title_full | Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter |
| title_fullStr | Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter |
| title_full_unstemmed | Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter |
| title_short | Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter |
| title_sort | load parameter identification for parallel robot manipulator based on extended kalman filter |
| url | http://dx.doi.org/10.1155/2020/8816374 |
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