A new joint friction model for parameter identification and sensor-less hand guiding in industrial robots
نویسندگان
چکیده
منابع مشابه
Automatic Sensor Frame Identification in Industrial Robots with Joint Elasticity∗
For robots with joint elasticity, discrepancies exist between the motor side information and the load side (i.e., end-effector) information. Therefore, high tracking performance at the load side can hardly be achieved when the estimate of load side information is inaccurate. To minimize such inaccuracies, it is desired to calibrate the load side sensor (in particular, the exact sensor location)...
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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau...
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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau...
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ژورنال
عنوان ژورنال: Industrial Robot: the international journal of robotics research and application
سال: 2020
ISSN: 0143-991X,0143-991X
DOI: 10.1108/ir-03-2020-0053