| Publication type: |
Article in Proceedings |
| Author: |
Dennis Schüthe, Felix Wenk, Udo Frese |
| Title: |
"Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders" |
| Book / Collection title: |
ICINCO 2016 – 13th International Conference on Informatics in Control, Automation and Robotics |
| Year published: |
2016 |
| Publisher: |
SCITEPRESS |
| Abstract: |
In this paper we show the identification of the dynamic parameters of a redundant flexible joint robot with a
flexible bearing in the first joint. The bearing leads to distortions of the link velocities measured by gyroscopes.
The bearing flexibility is not modeled explicitly, resulting in a very simple model. For the joint positions
encoders are used. We show how to pack the calibration problem into the sparse least-squares on manifolds
toolkit (SLOM) and present the results. For verification we compare the measured data with the predicted data
computed using the identified dynamic parameters. |
| Internet: |
http://www.icinco.org/Home.aspx |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv2/downloads/published/schuetheIcinco16.pdf |
| Status: |
Reviewed |
| Last updated: |
28. 11. 2016 |
