Dynamic Parameters Identification for Tong & Tong-Carrier of a Forging Manipulator
This paper deals with the dynamic parameters of the combination of the tong, the tong-carrier and (or without) a forging (link TCF). Two linear form equations of the dynamic model of link TCF about the dynamic parameters are obtained. And then based on two linear form equations, the least square method is adopted to identify the parameters. Simulation results show that the identified dynamic parameters, mass m, moment of inertia IL and the mass center parameter b1, have a small relative error that no more than 5%.
Dongye Sun, Wen-Pei Sung and Ran Chen
N. B. Cheng et al., "Dynamic Parameters Identification for Tong & Tong-Carrier of a Forging Manipulator", Applied Mechanics and Materials, Vols. 121-126, pp. 2006-2010, 2012