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