Kinematic identification of parallel mechanisms by a divide and conquer strategy

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dc.contributor.authorDurango S.
dc.contributor.authorExterno - Escuela - Ingeniería
dc.contributor.authorRuiz O.
dc.contributor.authorRestrepo-Giraldo J.
dc.contributor.authorAchiche S.
dc.contributor.departmentUniversidad EAFIT. Departamento de Ingeniería Mecánicaspa
dc.contributor.researchgroupLaboratorio CAD/CAM/CAEspa
dc.date.accessioned2021-04-16T21:24:57Z
dc.date.available2021-04-16T21:24:57Z
dc.date.issued2010-01-01
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 simulations.eng
dc.identifierhttps://eafit.fundanetsuite.com/Publicaciones/ProdCientif/PublicacionFrw.aspx?id=8113
dc.identifier.isbn9789898425010
dc.identifier.otherWOS;000393353400028
dc.identifier.otherSCOPUS;2-s2.0-78649663734
dc.identifier.urihttp://hdl.handle.net/10784/29507
dc.language.isoengspa
dc.publisherINSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION
dc.relation.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-78649663734&partnerID=40&md5=dcfe9b18a4ffdfe29d1ca5a6822d83dc
dc.rightsINSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION
dc.sourceKinematic Identification Of Parallel Mechanisms By A Divide And Conquer Strategy
dc.subject.keywordCalibration methodeng
dc.subject.keywordComputational costseng
dc.subject.keywordDivide and conquereng
dc.subject.keywordEstimated parametereng
dc.subject.keywordIdentification algorithmseng
dc.subject.keywordIdentification matrixeng
dc.subject.keywordIdentification methodeng
dc.subject.keywordIdentification protocoleng
dc.subject.keywordIdentification strategieseng
dc.subject.keywordJacobianseng
dc.subject.keywordKinematic modeleng
dc.subject.keywordKinematic parameterseng
dc.subject.keywordNumerical efficiencyeng
dc.subject.keywordParallel mechanismseng
dc.subject.keywordRobot calibrationeng
dc.subject.keywordSymmetrical mechanismeng
dc.subject.keywordCalibrationeng
dc.subject.keywordComputational efficiencyeng
dc.subject.keywordComputer simulationeng
dc.subject.keywordInformation scienceeng
dc.subject.keywordKinematicseng
dc.subject.keywordMechanismseng
dc.subject.keywordNumerical methodseng
dc.subject.keywordRoboticseng
dc.subject.keywordRobotseng
dc.subject.keywordParameter estimationeng
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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