Kinematic identification of parallel mechanisms by a divide and conquer strategy

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dc.contributor.authorDurango, Sebastián
dc.contributor.authorRestrepo, David
dc.contributor.authorRuíz, Óscar
dc.contributor.authorRestrepo-Giraldo, John
dc.contributor.authorAchiche, Sofiane
dc.contributor.departmentUniversidad EAFIT. Departamento de Ingeniería Mecánicaspa
dc.contributor.researchgroupLaboratorio CAD/CAM/CAEspa
dc.date.accessioned2016-11-18T22:37:55Z
dc.date.available2016-11-18T22:37:55Z
dc.date.issued2010
dc.description.abstractThis paper presents a Divide and Conquer strategy to estimate the kinematic parameters of parallel symmetrical mechanisms -- The Divide and Conquer kinematic identification is designed and performed independently for each leg of the mechanism -- The estimation of the kinematic parameters is performed using the inverse calibration method -- The identification poses are selected optimizing the observability of the kinematic parameters from a Jacobian identification matrix -- With respect to traditional identification methods the main advantages of the proposed Divide and Conquer kinematic identification strategy are: (i) reduction of the kinematic identification computational costs, (ii) improvement of the numerical efficiency of the kinematic identification algorithm and, (iii) improvement of the kinematic identification results -- The contributions of the paper are: (i) The formalization of the inverse calibration method as the Divide and Conquer strategy for the kinematic identification of parallel symmetrical mechanisms and, (ii) a new kinematic identification protocol based on the Divide and Conquer strategy -- As an application of the proposed kinematic identification protocol the identification of a planar 5R symmetrical mechanism is simulated -- The performance of the calibrated mechanism is evaluated by updating the kinematic model with the estimated parameters and developing simulationseng
dc.description.sponsorshipInstitute for Systems and Technologies of Information, Control and Communication, International Federation of Automatic Controlspa
dc.formatapplication/pdfeng
dc.identifier.citation@inproceedings{2010_Durango_Kinematic, author = {Sebastian Durango and David Restrepo and Oscar E. Ruiz and John Restrepo{-}Giraldo and Sofiane Achiche}, title = {Kinematic Identification of Parallel Mechanisms by a Divide and Conquer Strategy}, booktitle = {{ICINCO} 2010, Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics, Volume 2, Funchal, Madeira, Portugal, June 15-18, 2010}, editor={Joaquim Filipe and Juan Andrade{-}Cetto and Jean{-}Louis Ferrier}, publisher={INSTICC Press}, isbn={978-989-8425-01-0}, year = {2010}, pages = {167--173}, crossref = {DBLP:conf/icinco/2010-2}, timestamp = {Thu, 09 Oct 2014 22:25:44 +0200}, biburl = {http://dblp.uni-trier.de/rec/bib/conf/icinco/DurangoRRRA10}, bibsource = {dblp computer science bibliography, http://dblp.org} }spa
dc.identifier.isbn978-989-8425-01-0
dc.identifier.urihttp://hdl.handle.net/10784/9703
dc.language.isoengspa
dc.relation.ispartofProceedings of the 7th International Conference on Informatics in Control, Automation and Robotics, vol.2, pp.167,173, 2010spa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccesseng
dc.rights.localAcceso abiertospa
dc.subject.keywordKinematicseng
dc.subject.keywordRoboticseng
dc.subject.keywordAlgoritmos de calibraciónspa
dc.subject.keywordCinemática inversaspa
dc.subject.lembCINEMÁTICAspa
dc.subject.lembROBÓTICAspa
dc.titleKinematic identification of parallel mechanisms by a divide and conquer strategyeng
dc.typeinfo:eu-repo/semantics/conferencePapereng
dc.typeconferencePapereng
dc.typeinfo:eu-repo/semantics/publishedVersioneng
dc.typepublishedVersioneng
dc.type.localDocumento de conferenciaspa

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