Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders

Dennis Schüthe, Felix Wenk, Udo Frese

2016

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.

References

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Paper Citation


in Harvard Style

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


in Bibtex Style

@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},
}


in EndNote Style

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