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.

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