loading
Papers Papers/2020

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Dennis Schüthe 1 ; Felix Wenk 2 and Udo Frese 1

Affiliations: 1 University Bremen, Germany ; 2 German Research Center for Artificial Intelligence (DFKI), Germany

ISBN: 978-989-758-198-4

ISSN: 2184-2809

Keyword(s): Parameter Identification, Dynamics Identification, Model Fitting, Flexible Joints, Least-square, Entertainment Robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control ; System Identification ; System Modeling

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.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.236.84.188

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Schüthe, D.; Wenk, F. and Frese, U. (2016). Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders. In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4; ISSN 2184-2809, pages 335-346. DOI: 10.5220/0005976603350346

@conference{icinco16,
author={Dennis Schüthe. and Felix Wenk. and Udo Frese.},
title={Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={335-346},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005976603350346},
isbn={978-989-758-198-4},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders
SN - 978-989-758-198-4
IS - 2184-2809
AU - Schüthe, D.
AU - Wenk, F.
AU - Frese, U.
PY - 2016
SP - 335
EP - 346
DO - 10.5220/0005976603350346

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.
0123movie.net