Title :
Getting to know your robot
Author :
Walker, Michael W. ; Dobryden, Al ; Dionise, Joseph
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., MI, USA
Abstract :
Several algorithms used for the calibration of a manipulator are presented. The calibration includes the estimation of friction coefficients, position sensor calibration, and the motor torque constants. The model used for compensation of the gearing effects is described. The results of application of these algorithms to the PUMA 560 manipulator are presented
Keywords :
calibration; friction; robots; PUMA 560; calibration; friction coefficient estimation; gearing effects; manipulator; motor torque constants; position sensor; robot; Actuators; Calibration; Equations; Friction; Laboratories; Manipulators; Power amplifiers; Robot sensing systems; Torque control; Velocity control;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126168
