Adaptive calibration of measurement model of flexible robot end effector position using internal sensors

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F15%3A00236268" target="_blank" >RIV/68407700:21220/15:00236268 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Adaptive calibration of measurement model of flexible robot end effector position using internal sensors

Popis výsledku v původním jazyce

The aim of the paper is to present adaptive calibration method for flexible robot arm. The adaptive calibration method uses description by local linear models and validity functions. The aim is to improve the appropriate complexity of the model for the evaluation of the end-effector motion based on the internal sensors including the links deformation sensors. The internal sensors in drives, sensors directly in joints and links deformation sensors are considered. The deformations of the long links of thearm will be detected by the four-quadrant-detectors of the laser beams spots. The adaptive calibration method will use the synchronous measurements from the laser-trackers external sensors for the motion of endpoint E (with mounted reflector) and the data from all sensors mounted on robot arm.

Název v anglickém jazyce

Adaptive calibration of measurement model of flexible robot end effector position using internal sensors

Popis výsledku anglicky

The aim of the paper is to present adaptive calibration method for flexible robot arm. The adaptive calibration method uses description by local linear models and validity functions. The aim is to improve the appropriate complexity of the model for the evaluation of the end-effector motion based on the internal sensors including the links deformation sensors. The internal sensors in drives, sensors directly in joints and links deformation sensors are considered. The deformations of the long links of thearm will be detected by the four-quadrant-detectors of the laser beams spots. The adaptive calibration method will use the synchronous measurements from the laser-trackers external sensors for the motion of endpoint E (with mounted reflector) and the data from all sensors mounted on robot arm.

Druh

O - Ostatní výsledky

CEP obor

JR - Ostatní strojírenství

OECD FORD obor

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Projekt

<a href="/cs/project/GA13-39057S" target="_blank" >GA13-39057S: Zvyšování tuhosti robotů pomocí polohové zpětné vazby a redundantního měření</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů