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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

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