Due to the importance to model-based control, dynamic parameter identification has attracted much attention. However, until now, there is still much work for the identification of dynamic parameters to be done. In this paper, an overview is given of the existing work on dynamic parameter identification of serial and parallel robots. The methods for estimating the dynamic parameters are summarized, and the advantages and disadvantages of each method are discussed. The model to be identified and the trajectory optimization are reviewed. Further, the methods for validating the estimated model are summarized and the application of dynamic parameter identification is mentioned. The results of this review are useful for manufacturers of robots in selecting proper identification method and also for researchers in determining further research areas.

Review: An overview of dynamic parameter identification of robots

Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy

Robust PID control of fully-constrained cable driven parallel robots

Comprehensive overview of maximum power point tracking algorithms of PV systems under partial shading condition

Multiobjective optimization of a linear Delta parallel robot

Study on the stiffness of a 5-DOF hybrid machine tool with actuation redundancy

This paper proposes a two-axis-decoupled solar tracker based on parallel mechanism. Utilizing Grassmann line geometry, the type design of the two-axis solar tracker is investigated. Then, singularity is studied to obtain the workspace without singularities. By using the virtual work principle, the inverse dynamics is derived to find out the driving torque. Taking Beijing as a sample city where the solar tracker is placed, the motion trajectory of the tracker is planned to collect the maximum solar energy. The position of the mass center of the solar mirror on the platform is optimized to minimize the driving torque. The driving torque of the proposed tracker is compared with that of a conventional serial tracker, which shows that the proposed tracker can greatly reduce the driving torque and the reducers with large reduction ratio are not necessary. Thus, the complexity and power dissipation of the system can be reduced.

Liping Wang

Papers

Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy

Study on the stiffness of a 5-DOF hybrid machine tool with actuation redundancy

Design and Dynamics of a Novel Solar Tracker With Parallel Mechanism

A Control Strategy of a Two Degrees-of-Freedom Heavy Duty Parallel Manipulator

Simplified strategy of the dynamic model of a 6-UPS parallel kinematic machine for real-time control