Flexible model identification of the parallel robot Par2

Luiz R. Douat, Isabelle Queinnec, Germain Garcia, Micaël Michelin, François Pierrot

Abstract: The open-loop flexible modes identification of a high-speed and high-accuracy pick-and-place parallel robot is carried out based on two approaches: an ARMAX model and a subspace identification technique. Models of piezoelectric dynamics and disturbances can be obtained for many distinct operation conditions, allowing, in a future work, the conception of robust control laws.