61 to 70 of 2,450 Results
Tabular Data - 76.1 KB - 4 Variables, 999 Observations - UNF:6:q3Vd0d/x0rjZPCKMTK250Q==
Estimation of the link deflection.
tau_g2 \tau_{g,2} joint torque [Nm]
tau_g3 \tau_{g,3} joint torque [Nm]
Delta_phi2_link: \Delta\varphi_{link,2}: link flexibility model (eq 28) [rad]
Delta_phi3_link: \Delta\varphi_{link,3}: link flexibility model (eq 28) rad]
Used in Figure 8.
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Tabular Data - 72.0 KB - 4 Variables, 999 Observations - UNF:6:m/6mLtQoqZlyf8LksBxkFg==
Link flexibility estimation in q (joint encoder values) of the regression data set.
[x_LT_T_linkflex, y_LT_T_linkflex, z_LT_T_linkflex]^\top can be calculated with eq. 27 by applying the parameters estimated with eq. 28.
x_LT_T_linkflex: x value [m]
y_LT_T_linkflex: y value [m]
z_LT_T_linkflex: z value [m]
e_2norm_linkflex: euclidean distance betw... |
Tabular Data - 28.2 KB - 4 Variables, 391 Observations - UNF:6:Hoig1Z08DNLsrysUABfl4w==
Link flexibility estimation in q (joint encoder values) of the validation data set.
[x_LT_T_linkflex, y_LT_T_linkflex, z_LT_T_linkflex]^\top can be calculated with eq. 27 by applying the parameters estimated with eq. 28. {}^{LT}_H_0 and {}^6_H_T were obtained through regression, as the positioning of the laser tracker and the target presumably ch... |
Tabular Data - 660.2 KB - 13 Variables, 3176 Observations - UNF:6:L/gnPt+STLsAsQo8WtgsCw==
Regression data set used for the mass estimation of the second joint.
Only data used for the estimation is shown (constant velocity of the joint of interest).
sampling interval for estimation: 0.15 s
sempling interval data logging: 0.001 s
t_vec: time vector [s]
tau_m_2: measured torque of the 2nd motor translated to the output shaft [Nm]
tau_... |
Tabular Data - 998.4 KB - 12 Variables, 5190 Observations - UNF:6:7ZU2JTFhEkqBzQC7/zjYLQ==
Regression data set used for the mass estimation of the third joint.
Only data used for the estimation is shown (constant velocity of the joint of interest).
sampling interval for estimation: 0.15 s
sempling interval data logging: 0.001 s
t_vec: time vector [s]
tau_m_3: measured torque of the 3th motor translated to the output shaft [Nm]
tau_m... |
Tabular Data - 727.4 KB - 12 Variables, 3869 Observations - UNF:6:qqM70oy+MSTXcEWfEhnGww==
Regression data set used for the mass estimation of the fourth joint.
Only data used for the estimation is shown (constant velocity of the joint of interest).
sampling interval for estimation: 0.15 s
sempling interval data logging: 0.001 s
t_vec: time vector [s]
tau_m_4: measured torque of the 4th motor translated to the output shaft [Nm]
tau_... |
Tabular Data - 331.9 KB - 12 Variables, 1756 Observations - UNF:6:rmyxhjNg9wSbWyGYFU4xoQ==
Regression data set used for the mass estimation of the fifth joint.
Only data used for the estimation is shown (constant velocity of the joint of interest).
sampling interval for estimation: 0.15 s
sempling interval data logging: 0.001 s
t_vec: time vector [s]
tau_m_5: measured torque of the 5th motor translated to the output shaft [Nm]
tau_m... |
Tabular Data - 677 B - 3 Variables, 19 Observations - UNF:6:oGtCAqGqfJtxhARrPra4Lw==
Identified Parameters |
Tabular Data - 71.1 KB - 4 Variables, 999 Observations - UNF:6:f9XGJL0KnMRKFMylypTcXA==
Nominal model estimation of the regression data set.
[x_LT_T_nom, y_LT_T_nom, z_LT_T_nom]^\top can be calucalted with eq. 8, appling \theta', \p_nom and {}^{LT}H_0 and {}^{6}H_t (both of the minimization result of eq. 24).
x_LT_T_nom: x value [m]
y_LT_T_nom: y value [m]
z_LT_T_nom: z value [m]
e_22_norm_nom: euclidean distance between the above s... |
Tabular Data - 27.8 KB - 4 Variables, 391 Observations - UNF:6:jKu86Q8d9b+DazP/KLPkww==
Nominal model validation of the regression data set.
[x_LT_T_nom, y_LT_T_nom, z_LT_T_nom]^\top can be calucalted with eq. 8, appling \theta', \p_nom and {}^{LT}H_0 and {}^{6}H_t (both of the minimization result of the respective optimization of the dhh_theta set).
x_LT_T_nom: x value [m]
y_LT_T_nom: y value [m]
z_LT_T_nom: z value [m]
e_22_norm_n... |
