Dynamic identification of a parallel robot : Trajectory without load

This video shows a trajectory without payload used to identify the dynamic parameters and joint drive gains of a parallel prototype robot Orthoglyde. Details and results are given in the paper : S. Briot, M. Gautier: Global identification of joint drive gains and dynamic parameters of parallel robots, Multibody Syst. Dyn. 33(1), 3-26 (2015); doi 10.1007/s11044-013-9403-6