Parameter identification for joint elements in a revolute-joint detector manipulator

Curt Preissner; Deming Shu; Thomas J. Royston

doi:10.1117/12.617792

30 August 2005 Parameter identification for joint elements in a revolute-joint detector manipulator

Curt Preissner, Deming Shu, Thomas J. Royston

Proceedings Volume 5877, Optomechanics 2005; 58770H (2005) https://doi.org/10.1117/12.617792
Event: Optics and Photonics 2005, 2005, San Diego, California, United States

Abstract

A revolute-joint robot is being developed for the spatial positioning of an x-ray detector at the Advanced Photon Source. Commercially available revolute-joint manipulators do not meet our size, positioning, or payload specifications. One idea being considered is the modification of a commercially available robot, with the goal of improving the repeatability and trajectory accuracy. Theoretical, computational, and experimental procedures are being used to (1) identify, (2) simulate the dynamics of an existing robot system using a multibody approach, and eventually (3) design an improved version, with low dynamic positioning uncertainty. A key aspect of the modeling and performance prediction is accurate stiffness and damping values for the robot joints. This paper discusses the experimental identification of the stiffness and damping parameters for one robot harmonic drive joint.

Citation Download Citation

Curt Preissner, Deming Shu, and Thomas J. Royston "Parameter identification for joint elements in a revolute-joint detector manipulator", Proc. SPIE 5877, Optomechanics 2005, 58770H (30 August 2005); https://doi.org/10.1117/12.617792

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