ICMDT 2017

Proceedings of The 7th International Conferenc e

on Manufacturing, Machine Design and Tribology

Experimental dynamic identification of a delta robot

HuyHoang Vu*, JaeSeong Jeong* and Hyeong-Joon Ahn#,**

* Department of Software Convergence, Graduate School, Soongsil University, Seoul, Korea

** Department of Mechanical Engineering, Soongsil University, Seoul, Korea
#
Corresponding authors E-mail address: ahj123@ssu.ac.kr

Abstract
Nowadays, delta robot plays an important role in industrial manufacturing chain due to many advantages such as stability,
high speed and precision [1, 2]. A model based robust control is required to improve speed and acceleration of a delta robot.
Therefore, an experimental identification procedure is inevitable to obtain the accurate model. Until now, the experimental
identifications of the dynamics of parallel robots were done with simple models together with adaptive control algorithms.
However, the dynamic model must be efficiently formulated in order to meet real-time requirements. Furthermore, the model
parameters like masses and moments of inertia as well as friction parameters must be identified.
An industrial delta robot under study consists of three parallel chains connected to both the base and end-effector system
simultaneously, as shown in Fig. 1 (repeatability: 0.1 mm; workspace: 1328 mm x576 mm; speed: 130 cycles/ min
(30x250 mm)). First, we identify kinematic parameters using inverse kinematic model and non-linear minimization [3, 4].
Based on dynamic model of the delta robot shown in Eq. (1), dynamic identification problem is formulated with a nonlinear
constrained optimization problem, as shown Eq. (2). Additionally, rigid-body dynamics, the losses in actuators, gears, and
bearing are taken into account with friction model .To be more precise, the friction torque is modeled and identified using
viscous damping and dry friction [5].

s& C(s, s&&

M (s)& )s G (s ) J sT (s ) Fms (1) ; X w Arg .min T G T G (2)
X

where, M(s): symmetric positive definite inertial matrix;C(s, s&): the matrix of centrifugal and Coriolis forces; G(s): the
vector of gravity forces; Js(s): Jacobian matrix generation; : moment vector; : Lagrange number, X w : minimizes the
Euclidean norm; : weighted errors; G: diagonal matrix.

The end effector is moved following a circular motion profile (radius 0.25 m, velocity 0.2222 m/s and acceleration
0.1396 m/s2). At the same time, joint torques are estimated using motor currents and control positions of both end effector
and joint also are measured. Parameters of Eq. (1) including 6 inertial friction are identified using Eq. (2) and WLS method
that using least squares and observation matrix W . Fig. 2 shows a graphical comparison between the estimated (T1e, T2e,
T3e) and identified (T1s, T2s, T3s) torques. We can see that estimated torque and experiment torque are quite matched. Then,
in future research, inverse dynamic is applied to control delta robot.

10
T1s T2s T3s T1e T2e T3e
8
Torque (N.m)

0
0 1 2 3 4 5
Time(s)
(a) Schematic (b) Photo Fig. 2 Estimated and measured torques for motor
Fig. 1 Industrial delta robot

References
[1] Staicu, S., Carp-Ciocardia, D., Dynamic of Clavels Delta parallel Robot, IEEE International conference on Robotics
and Automation 0 (2003)7803-7736.
[2] Zhao, Y., Yang, Z., Huang, Y., Inverse Dynamics of DELTA Robot Based on the Principle of Virtual Work, Trans. of
Tianjin Univ. 04 (2005) pp. 268-273.
[3] Farhat, N., Mata, V., Page, ., and Valero, F., Identification of dynamic parameters of a 3-DOF RPS parallel
manipulator, Mechanism and Machine Theory 43 (2008) pp. 1-17.
[4] Renaud, P., Vivas, A., Andreff, N., Poignet, P., Martinet, P., Pierrot, F., and Company, O., Kinematic and dynamic
identification of parallel mechanisms, Control Engineering Practice 14 (2006) pp. 1099-1109.
[5] Grotjahn, M., Heimann, B., and Abdellatif, H., Identification of Friction and Rigid-Body Dynamics of Parallel
Kinematic Structures for Model-Based Control, Multibody System Dynamics 11 (2004) pp. 273-294.

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