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Authors: Radim Luža and František Zboril

Affiliation: Brno University of Technology, Czech Republic

ISBN: 978-989-758-040-6

Keyword(s): Play Detection, Revolute Joint, Robotic Manipulator, Mechanical Oscilator.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Intelligent Fault Detection and Identification ; Robotics and Automation ; Surveillance

Abstract: This article introduces a method of detection of mechanical play of revolute joint based on recognition of impacts caused by the play. The method uses inexpensive acceleration measuring device with limited sampling frequency. The impact is recognized indirecly according to oscillation of mechanical oscilator. The method was tested on real servo drive Dynamixel AX-12A.

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Paper citation in several formats:
Luža, R. and Zboril, F. (2014). Detection of Mechanical Play of Revolute Robot Joint.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-040-6, pages 327-332. DOI: 10.5220/0005018203270332

@conference{icinco14,
author={Radim Luža. and František Zboril.},
title={Detection of Mechanical Play of Revolute Robot Joint},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={327-332},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005018203270332},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Detection of Mechanical Play of Revolute Robot Joint
SN - 978-989-758-040-6
AU - Luža, R.
AU - Zboril, F.
PY - 2014
SP - 327
EP - 332
DO - 10.5220/0005018203270332

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