AURT: A Tool for Dynamics Calibration of Robot Manipulators

Abstract

We introduce AURT, an open-source software for modeling and calibration of robot manipulator dynamics. AURT includes rigid-body dynamics and a selection of joint dynamics models. The separation of the robot dynamics into rigid-body dynamics and joint dynamics allows for fast recalibration of the robot dynamics using different joint dynamics models. We evaluate the calibration performance using a Universal Robots UR5e robot manipulator. We also demonstrate how the joint dynamics models embedded in AURT outperforms the standard approach of the state of the art.