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456 IEEE TRANSACTIONS ON ROBOTICS, VOL. 24, NO. 2, APRIL 2008 the PA10-6CE utilizing the geometric and flexibility calibration method
 

Summary: 456 IEEE TRANSACTIONS ON ROBOTICS, VOL. 24, NO. 2, APRIL 2008
the PA10-6CE utilizing the geometric and flexibility calibration method
described here. We anticipate the combination of a detailed physical
model, and its accompanying control design will provide an accurate
measurement and control system suitable for demanding dynamic ap-
plications with the PA10-6CE robot arm.
ACKNOWLEDGMENT
The authors thank N. Mauntler for help in operating the CMM and
J. D. Yamokoski for much appreciated suggestions on the calibration
approach.
REFERENCES
[1] T. D. Tuttle, "Understanding and modeling the behavior of a harmonic
drive gear transmission,". (1992). MIT Artif. Intell. Lab., Cambridge, MA,
Tech. Rep. 1365, 1992, 1992.
[2] N. Kircanski and A. A. Goldenberg, "An experimental study of nonlinear
stiffness, hysteresis, and friction effects in robot joints with harmonic
drives and torque sensors," Int. J. Robot. Res., vol. 16, no. 2, pp. 214
239, 1997.
[3] R. P. Judd and A. B. Knasinski, "A technique to calibrate industrial robots
with experimental verification," IEEE Trans. Robot. Autom., vol. 6, no. 1,

  

Source: Andersson, Sean B. - Department of Aerospace and Mechanical Engineering, Boston University

 

Collections: Engineering