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Nonlinear identification of backlash in robot transmissions

Hovland,G, Hanssen,S, Gallestey,E, Moberg,S, Brogardh,T, Gunnarsson,S and Isaksson,M 2002, Nonlinear identification of backlash in robot transmissions, in ISR 2002 : Proceedings of the 33rd International Symposium on Robotics, International Federation of Robotics, Frankfurt, Germany, pp. 1-6.

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Title Nonlinear identification of backlash in robot transmissions
Author(s) Hovland,G
Hanssen,S
Gallestey,E
Moberg,S
Brogardh,T
Gunnarsson,S
Isaksson,M
Conference name International Symposium on Robotics (33rd : 2002 : Stockholm, Sweden)
Conference location Stockholm, Sweden
Conference dates 2002/10/7 - 2002/10/11
Title of proceedings ISR 2002 : Proceedings of the 33rd International Symposium on Robotics
Editor(s) [Unknown]
Publication date 2002
Conference series International Symposium on Robotics
Start page 1
End page 6
Total pages 6
Publisher International Federation of Robotics
Place of publication Frankfurt, Germany
Keyword(s) backlash
transmission
two-mass model
friction
nonlinear observers
extended Kalman filter
augmented state
Summary ABSTRACT This paper addresses the issue of automatic identification of backlash in robot transmissions. Traditionally, the backlash is measured manually either by the transmission manufacturer or the robot manufacturer. Before the robot can be delivered to the end-customer, the backlash must be within specified tolerances. For robots with motor measurements only, backlash is an example of an uncontrollable behaviour which directly affects the absolute accuracy of the robot’s tool-centrepoint. Even if we do not attempt to bring backlash under real-time control in this paper, we will describe a method to automatically identify/estimate the backlash in the robot transmissions from torque and position measurements. Hence, only the transmissions that do not meet the backlash requirements in the automatic tests need to be checked and adjusted manually.
Language eng
Field of Research 109999 Technology not elsewhere classified
Socio Economic Objective 970110 Expanding Knowledge in Technology
HERDC Research category E1.1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2002, International Federation of Robotics
Persistent URL http://hdl.handle.net/10536/DRO/DU:30067883

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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