Dynamic Parameter Identification for Cable-Driven Parallel Robots

This paper presents an initial work of identifying the dynamic parameters for cable-driven parallel robot (CDPR), CRAFT prototype with a rigorous protocol. An orbital trajectory of the platform is designed in order to get a pure translation movement of the platform. This trajectory evolves in a plane and allows the identification of four dynamic parameters, the mass of the platform and the first three moments along the three main axes. The identification results obtained respectively from the data from the experimental measurements of the platform position, and from the experimental measurements treated with the application of a homogeneous semi-implicit differentiator, show that in spite of the complexity of CRAFT an identification of all its essential dynamic parameters is possible. In future work, the proposed approach will be used to identify the remaining six dynamic terms associated with the inertia tensor, specifically three terms associated with the platform moment of inertia and other three are products of inertia