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Experiments in non‐smooth mechanics with a passive‐actuated robotic arm
Author(s) -
WelgeLuessen Tobias
Publication year - 2007
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200700220
Subject(s) - brake , robotic arm , manipulator (device) , computer science , robot , joint (building) , mechanical engineering , control engineering , control theory (sociology) , engineering , simulation , structural engineering , artificial intelligence , control (management)
This paper describes various experiments for the parameter identification of a two‐link passive‐actuated robot manipulator. The proposed experiments can be used to determine the flexible properties of the physical structure, especially of both arms and of the shafts within the joints connecting them. In addition experiments for the major joint elements, namely the motor and the electromagnetically powered brake are being presented. (© 2008 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)