Detection of Mechanical Play of Revolute Robot Joint

Radim Luža, František Zboril

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.

References

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Paper Citation


in Harvard Style

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 2: ICINCO, ISBN 978-989-758-040-6, pages 327-332. DOI: 10.5220/0005018203270332


in Bibtex Style

@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 2: ICINCO,},
year={2014},
pages={327-332},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005018203270332},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: 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