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Modelling closed-loop mechanisms in robots for purposes of calibration

: Schröer, K.; Albright, S.L.; Lisounkin, A.


IEEE transactions on robotics and automation 13 (1997), No.2, pp.218-229
ISSN: 0882-4967
ISSN: 1552-3098
ISSN: 1042-296X
Journal Article
Fraunhofer IPK ()
calibration; closed-loop mechanism; robot

A method for modelling the significant parameters of closed-loop mechanisms in robots for purposes of calibration is presented. Non-linear kinematic and mechanical characteristics of the closed-loop mechanisms are modelled 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 non-linear in case of closed-loop mechanisms. Identifiability of model parameters (including elasticity) is analysed and calibration results are presented.