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
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.