loading
Papers

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

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.

PDF ImageFull Text

Download
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 34.204.203.142

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, 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},
}

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
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.