DocumentCode
2518000
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
fYear
1990
fDate
13-18 May 1990
Firstpage
1245
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126168
Filename
126168
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