Modeling closed-loop mechanisms in robots for purposes of calibration

Author

Schröer, Klaus ; Albright, Stephe L. ; Lisounkin, Alexei

Author_Institution

Fraunhofer-Inst. for Production Syst. & Design Technol., Berlin, Germany

Volume

13

Issue

2

fYear

1997

fDate

4/1/1997 12:00:00 AM

Firstpage

218

Lastpage

229

Abstract

A method for modeling the significant parameters of closed-loop mechanisms in robots for purposes of calibration is presented. Nonlinear kinematic and mechanical characteristics of the closed-loop mechanisms are modeled in such a way that they can be integrated into an open-loop manipulator model and identified. This integration is accomplished through a separation of the spatial open-loop manipulator (defining the kinematic model) and its joint-actuating mechanisms or actuator models which can be nonlinear in the case of closed-loop mechanisms. Identifiability of model parameters (including elasticity) is analyzed and calibration results are presented

Keywords

actuators; calibration; closed loop systems; manipulator kinematics; actuator models; calibration; closed-loop mechanisms; elasticity; identifiability; joint-actuating mechanisms; kinematic model; mechanical characteristics; nonlinear kinematic characteristics; spatial open-loop manipulator; Actuators; Calibration; Couplings; Kinematics; Life testing; Manipulators; Nonlinear equations; Position measurement; Robot programming; Service robots;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.563644

Filename

563644