文章基本信息

标题：Gray-Box Model Identification and Payload Estimation for Delta Robots ⁎
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作者：Fabio Falezza ; Federico Vesentini ; Alessandro Di Flumeri 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：8771-8776
DOI：10.1016/j.ifacol.2020.12.1378
语种：English
出版社：Elsevier
摘要：AbstractDelta Robots belong to a class of parallel robots widely used in industrial production processes, mostly for pick-and-place operations. The most relevant characteristics are the high speed and the extremely favorable ratio between the maximum payload and the weight of the robot itself. A reliable dynamic model is needed to implement torque controllers that reduce unnecessary high accelerations and so mechanical vibrations. Moreover, when the mass of the pickable object is unknown, it is crucial to identify with sufficient precision the dynamic contribution of the payload and to accordingly adapt the dynamic model in order to guarantee high performance.
关键词：KeywordsRobot dynamical modelModel IdentificationPayload estimationDelta Robots