Title :
Detection of mechanical play of revolute robot joint
Author :
Luza, Radim ; Zboril, Frantisek V.
Author_Institution :
Faculty of Information Technology, Brno University of Technology, Božtěchova 2, Czech Republic
Abstract :
This article introduces a method of detection of mechanical play of revolute joint based on recognition of impacts caused by the play. The method uses inexpensive acceleration measuring device with limited sampling frequency. The impact is recognized indirecly according to oscillation of mechanical oscilator. The method was tested on real servo drive Dynamixel AX-12A.
Keywords :
Acceleration; Equations; Gears; Joints; Manipulators; Mathematical model; Mechanical Oscilator; Play Detection; Revolute Joint; Robotic Manipulator;
Conference_Titel :
Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on
