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Modeling closed-loop mechanisms in robots for purposes of calibration

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3 Author(s)
Schroer, K. ; Fraunhofer-Inst. for Production Syst. & Design Technol., Berlin, Germany ; Albright, S.L. ; Lisounkin, A.

A method for modeling the significant parameters of closed-loop mechanisms in robots for purposes of calibration is presented. Nonlinear kinematic and mechanical characteristics of the closed-loop mechanisms are modeled 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 nonlinear in the case of closed-loop mechanisms. Identifiability of model parameters (including elasticity) is analyzed and calibration results are presented

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Robotics and Automation, IEEE Transactions on  (Volume:13 ,  Issue: 2 )