MANIPULATION
Getting to know your robot
Michael Walker, AL Dobryden, J. Dionise
- Year
- 2002
- Citations
- 4
Abstract
Several algorithms used for the calibration of a manipulator are presented. The calibration includes the estimation of friction coefficients, position sensor calibration, and the motor torque constants. The model used for compensation of the gearing effects is described. The results of application of these algorithms to the PUMA 560 manipulator are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
CalibrationCompensation (psychology)Position (finance)RobotComputer scienceTorqueManipulator (device)Artificial intelligenceControl engineeringControl theory (sociology)
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