391 to 400 of 2,750 Results
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... |
Tabular Data - 584 B - 3 Variables, 33 Observations - UNF:6:a38Phj/zcJNdcQ4UoQ1d9Q==
additionally contains gearbox ratios |
Tabular Data - 357 B - 4 Variables, 12 Observations - UNF:6:RVVkr37b16CbLZJkrX7qAg==
Lower and upper bounds for particleswarm optimization
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Tabular Data - 3.6 KB - 8 Variables, 37 Observations - UNF:6:5/4ZOEzZ83GUpVNorbB0nA==
Nominal values, IC's and identifeid parameters |
Tabular Data - 314.8 KB - 18 Variables, 999 Observations - UNF:6:NyhOBCwJV9EwEavFylCpAA==
Figure 3.
Regression data set.
Lasertracker data: cartesian position of the Target (T) in the lasertracker's coordinate system (LT)
x_LT_T: x value [m]
y_LT_T: y value [m]
z_LT_T: z value [m]
Transformation in the robot's coordinate system (0):
x_0_T: x value [m]
y_0_T: y value [m]
z_0_T: z value [m]
Disclaimer: x_0_T, y_0_T, and z_0_T were calc... |
Tabular Data - 123.3 KB - 18 Variables, 391 Observations - UNF:6:0XBMsErN972oRRSt9ehQpg==
Figure 11..
Validation data set.
Lasertracker data: cartesian position of the Target (T) in the lasertracker's coordinate system (LT)
x_LT_T: x value [m]
y_LT_T: y value [m]
z_LT_T: z value [m]
Transformation in the robot's coordinate system (0):
x_0_T: x value [m]
y_0_T: y value [m]
z_0_T: z value [m]
Disclaimer: x_0_T, y_0_T, and z_0_T were ca... |
