Parametric identification of a delta type parallel robot

Abstract

This paper presents a methodology for the parametric identification of the analytic dynamic model of a three degree of freedom delta type parallel robot. Dynamical behavior was modeled using the Euler-Lagrange analytic approach. Analytic dynamic model parameters were estimated using a MSC-ADAMS/MATLAB Cosimulation model. The identification algorithm employed was the recursive least squares, which is validated for many trajectories. The performance index employed for the identification process was the NRMSE value. Results showed that the identification methodology employed has a fit of 80%.