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PARAMETER SENSITIVITY IN SYSTEM IDENTIFICATION OF PARALLEL MECHANISMS

机译:并联机构系统识别中的参数灵敏度

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This paper presents a study on the sensitivity of the dynamics of parallel kinematic mechanisms (PKMs) and their effects on the system identification of inertial parameters. Comparing the sensitivity of the individual terms in the equations of motion, a delineation of areas prone to convergence errors in the presence of measurement noise and design parameter variations can be characterized. The design parameter variations evaluated were the strut masses, platform mass, joint location errors and friction. Comparative observations are made using sample trajectory based characterizations. Detailed results are presented for the University of Florida Special 6-6 PKM.
机译:本文介绍了并联运动机制(PKMS)动态的敏感性及其对惯性参数的系统识别的影响。比较各个术语在运动方程中的敏感性,可以表征在存在测量噪声和设计参数变化的情况下容易收敛误差的区域。评估的设计参数变化是支柱,平台质量,关节位置误差和摩擦。使用基于样本轨迹的特性进行比较观察。详细的结果是佛罗里达大学特价6-6 PKM。

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