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

Dennis Schüthe, Felix Wenk, Udo Frese

In: ICINCO 2016. International Conference on Informatics in Control, Automation and Robotics (ICINCO-16) 13th July 29-31 Lisbon Portugal SCITEPRESS 2016.


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.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence