Archivio Istituzionale della RicercaThis paper presents experimental results for the dynamic calibration of the SCARA robot. In particular, optimized techniques are applied to determine optimal excitation trajectories for the identification experiment, and the resulting performances are compared with those obtained using standard robot "working" trajectories. Experiments show that the theoretically optimal trajectories provide an actual practical improvement on the quality of the resulting parameter estimates and torque reconstruction.
Optimized Dynamic Calibration of a SCARA Robot / Indri, Marina; Calafiore, Giuseppe Carlo; Legnani, G.; Jatta, F.; Visioli, A.. - (2002). (Intervento presentato al convegno 15th IFAC World Congress tenutosi a Barcelona, Spain nel 21-26 Jul, 2002) [10.3182/20020721-6-ES-1901.00884].
Optimized Dynamic Calibration of a SCARA Robot
INDRI, Marina;CALAFIORE, Giuseppe Carlo;
2002
Abstract
This paper presents experimental results for the dynamic calibration of the SCARA robot. In particular, optimized techniques are applied to determine optimal excitation trajectories for the identification experiment, and the resulting performances are compared with those obtained using standard robot "working" trajectories. Experiments show that the theoretically optimal trajectories provide an actual practical improvement on the quality of the resulting parameter estimates and torque reconstruction.
Pubblicazioni consigliate
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11583/1414901
Attenzione
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo