Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter

Table 1

Main parameters of the Stewart robot with load.

Parameters	Value
Radius of upper/lower platform (m)	0.4/0.6
Initial length of the linear hydraulic cylinder (m)	0.8741
Min/max stroke of the hydraulic cylinder (m)	−0.3/0.3
Mass of load (kg)	500
Mass of upper platform (kg)	100
Moment of inertia of the upper platform (kg·m^2)	diag (25, 25, 44)