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Proceedings Paper

Parameter identification for joint elements in a revolute-joint detector manipulator
Author(s): Curt Preissner; Deming Shu; Thomas J. Royston
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Paper Abstract

A revolute-joint robot is being developed for the spatial positioning of an x-ray detector at the Advanced Photon Source. Commercially available revolute-joint manipulators do not meet our size, positioning, or payload specifications. One idea being considered is the modification of a commercially available robot, with the goal of improving the repeatability and trajectory accuracy. Theoretical, computational, and experimental procedures are being used to (1) identify, (2) simulate the dynamics of an existing robot system using a multibody approach, and eventually (3) design an improved version, with low dynamic positioning uncertainty. A key aspect of the modeling and performance prediction is accurate stiffness and damping values for the robot joints. This paper discusses the experimental identification of the stiffness and damping parameters for one robot harmonic drive joint.

Paper Details

Date Published: 30 August 2005
PDF: 8 pages
Proc. SPIE 5877, Optomechanics 2005, 58770H (30 August 2005); doi: 10.1117/12.617792
Show Author Affiliations
Curt Preissner, Argonne National Lab. (United States)
Deming Shu, Argonne National Lab. (United States)
Thomas J. Royston, Univ. of Illinois at Chicago (United States)

Published in SPIE Proceedings Vol. 5877:
Optomechanics 2005
Alson E. Hatheway, Editor(s)

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