The Dynamic Characteristics of the Manipulator With Parallel Kinematic Structure Based on Experimental Data

Abstract

The chapter presents two identification techniques which the authors found most useful in examining the dynamic characteristics of a manipulator with a parallel kinematic structure as an object of control. These techniques emphasize a frequency domain approach. If all input/output signals of an object can be measured, then the first one of such techniques may be used for identification. In the case when all disturbances can’t be measured, the second identification technique may be used.