DocumentCode
3567856
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
Volume
2
fYear
2014
Firstpage
327
Lastpage
332
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on
Type
conf
Filename
7049617
Link To Document