A multicriteria approach for optimal trajectories in dynamic parameter identification of parallel robots

Abstract

When dealing with the development of accurate robot dynamic models, the estimation and validation of the dynamic parameters through experiments becomes necessary. One of the most important objectives to achieve in the design of the experiment, aimed at identification, is to properly excite the system so that the unknown parameters can be accurately estimated. It is customary to find proper excitations optimizing the observation matrix of the model w.r.t. a certain criterion. In this paper the suitability of some trajectory optimization criteria are evaluated for parallel robots. Moreover, a multicriteria algorithm is proposed in order to reduce the deficiencies derived from the single criterion optimization. © Springer Science+Business Media B.V. 2009.