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Moreover, exciting trajectories are also designed respectively in the actuating space and task space.
Then the exciting trajectories are parameterized with the finite Fourier series, and optimized by the nonlinear optimization algorithm.
The dynamics model is calibrated by means of exciting trajectories made by suitable paths selected by a genetic-based two-stage optimization.
In order to achieve accurate dynamic identification of parallel manipulators, the exciting trajectories have to be specially designed according to some optimal criteria.
The exciting trajectories and dynamic identification are implemented on a 2-DOF redundantly actuated parallel manipulator, and the experiment results indicate that the accurate dynamic model can be established by using the proposed method.
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To improve the accuracy of the estimation, the exciting trajectory should be optimized for the sufficient excitation of the hybrid system.
England have had an exciting trajectory.
The exciting trajectory is performed for five times.
The optimized exciting trajectory is shown in Figure 7. Figure 7 Optimized exciting trajectory for the identification of the dynamic parameters.
In this study, finite Fourier series (FFS) is introduced to parameterized the exciting trajectory [31].
The samples used for the identification are obtained by performing the exciting trajectory with the patient involved in the pre-training stage.
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