Title:
ロボットアームまたはマニピュレータアームのヒンジにおける摩擦を同定する方法、および、その方法のトルク補償方法における使用
Document Type and Number:
Japanese Patent JP2013526425
Kind Code:
A
Abstract:
An identification method for identifying the behavior of a hinge of a robot arm or of a manipulator arm, the method including the steps of selecting a behavior model linking the input torque and the output torque of the hinge depending on operating parameters, and of operating the hinge in such a manner as to measure several (input torque/output torque) operating points, and of performing a regression in order to identify the parameters of the model and thus to determine at least one of the direct or indirect characteristics of the hinge. The behavior model retained includes dry friction having a first component that does not depend on the output torque, and a second component that does depend on the output torque of the hinge.
Inventors:
Philip Garek
Application Number:
JP2013511699A
Publication Date:
June 24, 2013
Filing Date:
May 27, 2011
Export Citation:
Assignee:
Komisariya Arenergy Atomic Energy Alternative
International Classes:
B25J13/00
Domestic Patent References:
| JP2006146572A | 2006-06-08 |
Attorney, Agent or Firm:
Atsushi Aoki
Tetsuro Shimada
Shinji Mitsuhashi
Hirose Shigeki
Kazuo Maejima
Masahiro Tahara
Tetsuro Shimada
Shinji Mitsuhashi
Hirose Shigeki
Kazuo Maejima
Masahiro Tahara