Metaheuristic Identification for an Analytic Dynamic Model of a Delta Robot with Experimental Verification
Tae-Hyoung Kim, Yeongjae Kim, Taeheon Kwak, Masaaki Kanno
Abstract
The dynamic-parameter identification process for developing a suitable precise mathematical model for the implementation and operation of parallel-link robots has received attention. In this study, an efficient and reliable system-identification method for a delta robot is proposed. The parallel-link robot’s dynamic behavior was mathematically modeled according to the principle of virtual work. The dynamic equations of motion are extended to the system of equations that explicitly characterizes the inertial and centripetal/Coriolis forces, and the frictional effects on the robot’s dynamic behavior. Next, the dynamic-parameter identification technique is presented to directly estimate a set of uncertain parameters that are included in the extended dynamic model. In addition, the development of the dynamic model with a generalized inertia matrix for determining the impact of the inertia-coupling characteristic on the robot’s dynamic behaviors is examined. Experimental results indicate that the proposed parameter-estimation technique is an extremely useful tool that can achieve the high-quality identification of an analytic dynamic model for a parallel-link robot.