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

With the continuous improvement of automation, industrial robots have become an indispensable part of automated production lines. They widely used in a number of industrial production activities, such as spraying, welding, handling, etc., and have a great role in these sectors. Recently, the robotic technology is developing towards high precision, high intelligence. Robot calibration technology has a great significance to improve the accuracy of robot. However, it has much work to be done in the identification of robot parameters. The parameter identification work of existing serial and parallel robots is introduced. On the one hand, it summarizes the methods for parameter calibration and discusses their advantages and disadvantages. On the other hand, the application of parameter identification is introduced. This overview has a great reference value for robot manufacturers to choose proper identification method, points further research areas for researchers. Finally, this paper analyzes the existing problems in robot calibration, which may be worth researching in the future.

An overview of calibration technology of industrial robots

Multiobjective optimization of a linear Delta parallel robot

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

Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates

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

This paper deals with the optimal kinematic design, dynamic analysis, and application of a 2 degree of freedom (2-DOF) planar parallel mechanism. In the optimal kinematic design phase, the singularities and workspace are investigated, and the optimal kinematic parameters of the mechanism are achieved by minimizing a global and comprehensive conditioning index. The Newton-Euler method is employed to derive the inverse dynamic model. Dynamic simulations show that the inertia force of moving parts is an important factor affecting the dynamic characteristics of the mechanism. The parallel mechanism is incorporated into a 4-DOF hybrid machine tool which also includes a 2-DOF worktable to demonstrate its applicability.

Tiemin Li

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

Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates

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

Analysis and Application of a 2-DOF Planar Parallel Mechanism