In:
ICINCO 2016. International Conference on Informatics in Control, Automation and Robotics (ICINCO-16) 13th July 29-31 Lisbon Portugal SCITEPRESS 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.
@inproceedings{pub8375,
author = {Schüthe, Dennis and Wenk, Felix and Frese, Udo},
title = {Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders},
booktitle = {ICINCO 2016. International Conference on Informatics in Control, Automation and Robotics (ICINCO-16), 13th, July 29-31, Lisbon, Portugal},
year = {2016},
publisher = {SCITEPRESS}
}
German Research Center for Artificial Intelligence Deutsches Forschungszentrum für Künstliche Intelligenz
