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 with a rigorous protocol. An orbital trajectory platform is designed in order to get pure translation movement platform. evolves plane and allows identification four parameters, mass first three moments along main axes. The results obtained respectively from data experimental measurements moving platform, treated application semi-implicit homogeneous differentiator, show that spite complexity all its essential possible. Moreover, long term, online during handling tasks envisaged.