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Author Meggiolaro, Marco A. ♦ Jaffe, Peter C. L. ♦ Dubowsky, Steven
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Elastic Distortion ♦ Accurate Manipulator ♦ Nonlinear Joint Characteristic ♦ Good Repeatability ♦ Large Manipulator ♦ Important Robotic Task ♦ Base Sensor Control ♦ High Force ♦ High Absolute ♦ System Repeatability ♦ Transmission Friction ♦ High Joint ♦ Strong Manipulator ♦ Elastic Error Compensation ♦ High Joint Friction ♦ Fine Absolute Positioning Accuracy ♦ High Task Force ♦ Geometric Distortion ♦ Wrist Force Torque Sensor ♦ Absolute Accuracy ♦ High Accuracy
Description Important robotic tasks could be most effectively done by powerful and accurate manipulators. However, high accuracy is generally unattainable in manipulators capable of producing high task forces due to such factors as high joint, actuator, and transmission friction and link elastic and geometric distortions. A method called Base Sensor Control (BSC) has been developed to compensate for nonlinear joint characteristics, such as high joint friction, to improve system repeatability. A method to identify and compensate for system geometric and elastic distortion positioning errors in large manipulators has also been recently proposed to improve absolute accuracy in systems with good repeatability using a wrist force/torque sensor. This technique is called Geometric and Elastic Error Compensation (GEC). Here, it is shown experimentally that the two techniques can be effectively combined to enable strong manipulators to achieve high absolute positioning accuracy while performing tasks requiring high forces. 1
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 1999-01-01
Publisher Institution in Large Powerful Manipulators”, Proc. of the International Conference on Robotics and Automation (ICRA '99), IEEE