MANIPULATION
Identification of Flexibility Parameters of 6-axis Industrial Manipulator Models
Jonas Öhr, Stig Moberg, Erik Wernholt, Sven Hanssen, Jens Pettersson, Sofie Persson, Shiva Sander-Tavallaey
- Year
- 2006
- Citations
- 33
Abstract
A method for identification of flexibility parameters of a 18 DOF (degrees offreedom) robot prototype model is proposed. Experiments show the strengthof the method and the results indicates that flexibilities in the bearings and thearms, taken together, are of the same order as the flexibilities in the gears.
Keywords
Flexibility (engineering)Identification (biology)Industrial robotManipulator (device)RobotRobot manipulatorComputer scienceControl engineeringControl theory (sociology)Artificial intelligence
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