Institute for Control Engineering of Machine Tools and Manufacturing Units

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371 to 380 of 2,750 Results

setup.txt Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling Plain Text - 119 B - MD5: fc93cc7a28c4484290dc48cb6a2fafc2
vel_sweep_x0_n150.csv Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling Comma Separated Values - 4.5 MB - MD5: 13bed53184652a120a3d3dac021e7e84
vel_sweep_x0_n50.csv Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling Comma Separated Values - 4.5 MB - MD5: 738463171626fccb0a824f590da1df05
vel_sweep_x0_p50.csv Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling Comma Separated Values - 4.5 MB - MD5: 2189dee5e45a170e970dae0818374405
abs_error_sim.tab May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots Tabular Data - 553.4 KB - 15 Variables, 2500 Observations - UNF:6:kotS25lCQAlDiB0QyIgMkw== Simulated error between the solely kinematic model (dhh) and the elastokinematic model. The dhh model was virtually calibrated to x = 1.9m and z =0.85m by optimizing for offset angles of q2 and q3. Then a grid of 250x250 samples in q2 and q3 was evaluated. The absolute error is the L2 norm between the x and z coordinates of the dhh and elastokinema...
dhh_q_regression.tab May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots Tabular Data - 72.1 KB - 4 Variables, 999 Observations - UNF:6:RWgQ1bKuhN+BvGvSHqztzA== Rigid body estimation in q (joint angles) of the regression data set. [x_LT_T_dhh_q, y_LT_T_dhh_q, z_LT_T_dhh_q]^\top can be calculated with eq. 23 by applying the parameters estimated with eq. 24. x_LT_T_dhh_q: x value [m] y_LT_T_dhh_q: y value [m] z_LT_T_dhh_q: z value [m] e_22_norm_dhh_q: euclidean distance between the above stated quantities a...
dhh_q_validation.tab May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots Tabular Data - 28.2 KB - 4 Variables, 391 Observations - UNF:6:iMy2vTIzSCypmh51xOmPmQ== Rigid body estimation in q (joint angles) of the validation data set. [x_LT_T_dhh_q, y_LT_T_dhh_q, z_LT_T_dhh_q]^\top can be calculated with eq. 23 by applying the parameters estimated with eq. 24; {}^{LT}_H_0 and {}^6_H_T were obtained through regression, as the positioning of the laser tracker and the target presumably changed. x_LT_T_dhh_q: x...
dhh_theta_regression.tab May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots Tabular Data - 72.1 KB - 4 Variables, 999 Observations - UNF:6:M4B4w7UhtKmM2YC6rz+USw== Rigid body estimation in theta' (motor encoder values mapped to the output shaft) of the regression data set. [x_LT_T_dhh_theta, y_LT_T_dhh_theta, z_LT_T_dhh_theta]^\top can be calculated with eq. 9 by applying the parameters estimated with eq. 10. x_LT_T_dhh_theta: x value [m] y_LT_T_dhh_theta: y value [m] z_LT_T_dhh_theta: z value [m] e_2norm_dh...
dhh_theta_validation.tab May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots Tabular Data - 27.9 KB - 4 Variables, 391 Observations - UNF:6:7UDwLlQHHV01YKXBZM3Qcw== Rigid body estimation in theta' (motor encoder values mapped to the output shaft) of the validation data set. [x_LT_T_dhh_theta, y_LT_T_dhh_theta, z_LT_T_dhh_theta]^\top can be calculated with eq. 9 by applying the parameters estimated with eq. 10. {}^{LT}_H_0 and {}^6_H_T were obtained through regression, as the positioning of the laser tracker...
elastokinematic_flexibility.tab May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots Tabular Data - 200.9 KB - 10 Variables, 999 Observations - UNF:6:kGzF/rBCaRvvaqk1Z3mqkA== Estimation of the elastokinematic compliance, including gearbox and link deflections. tau_g2_theta: \tau_{g,2}(\theta') joint torque, calculated with \theta' instead of q [Nm] tau_g3_theta: \tau_{g,3}(\theta') joint torque, calculated with \theta' instead of q [Nm] Delta_phi2_elastokin: \Delta\varphi_2 Elastokinematic model (eq. 31) [rad] Delta_ph...

setup.txt

Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling

Plain Text - 119 B -

vel_sweep_x0_n150.csv

Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling

Comma Separated Values - 4.5 MB -

vel_sweep_x0_n50.csv

Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling

Comma Separated Values - 4.5 MB -

vel_sweep_x0_p50.csv

Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling

Comma Separated Values - 4.5 MB -

abs_error_sim.tab

May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

Tabular Data - 553.4 KB - 15 Variables, 2500 Observations -

Simulated error between the solely kinematic model (dhh) and the elastokinematic model. The dhh model was virtually calibrated to x = 1.9m and z =0.85m by optimizing for offset angles of q2 and q3. Then a grid of 250x250 samples in q2 and q3 was evaluated. The absolute error is the L2 norm between the x and z coordinates of the dhh and elastokinema...

dhh_q_regression.tab

May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

Tabular Data - 72.1 KB - 4 Variables, 999 Observations -

Rigid body estimation in q (joint angles) of the regression data set. [x_LT_T_dhh_q, y_LT_T_dhh_q, z_LT_T_dhh_q]^\top can be calculated with eq. 23 by applying the parameters estimated with eq. 24. x_LT_T_dhh_q: x value [m] y_LT_T_dhh_q: y value [m] z_LT_T_dhh_q: z value [m] e_22_norm_dhh_q: euclidean distance between the above stated quantities a...

dhh_q_validation.tab

May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

Tabular Data - 28.2 KB - 4 Variables, 391 Observations -

Rigid body estimation in q (joint angles) of the validation data set. [x_LT_T_dhh_q, y_LT_T_dhh_q, z_LT_T_dhh_q]^\top can be calculated with eq. 23 by applying the parameters estimated with eq. 24; {}^{LT}_H_0 and {}^6_H_T were obtained through regression, as the positioning of the laser tracker and the target presumably changed. x_LT_T_dhh_q: x...

dhh_theta_regression.tab

May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

Tabular Data - 72.1 KB - 4 Variables, 999 Observations -

Rigid body estimation in theta' (motor encoder values mapped to the output shaft) of the regression data set. [x_LT_T_dhh_theta, y_LT_T_dhh_theta, z_LT_T_dhh_theta]^\top can be calculated with eq. 9 by applying the parameters estimated with eq. 10. x_LT_T_dhh_theta: x value [m] y_LT_T_dhh_theta: y value [m] z_LT_T_dhh_theta: z value [m] e_2norm_dh...

dhh_theta_validation.tab

May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

Tabular Data - 27.9 KB - 4 Variables, 391 Observations -

Rigid body estimation in theta' (motor encoder values mapped to the output shaft) of the validation data set. [x_LT_T_dhh_theta, y_LT_T_dhh_theta, z_LT_T_dhh_theta]^\top can be calculated with eq. 9 by applying the parameters estimated with eq. 10. {}^{LT}_H_0 and {}^6_H_T were obtained through regression, as the positioning of the laser tracker...

elastokinematic_flexibility.tab

May 28, 2025 - Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

Tabular Data - 200.9 KB - 10 Variables, 999 Observations -

Estimation of the elastokinematic compliance, including gearbox and link deflections. tau_g2_theta: \tau_{g,2}(\theta') joint torque, calculated with \theta' instead of q [Nm] tau_g3_theta: \tau_{g,3}(\theta') joint torque, calculated with \theta' instead of q [Nm] Delta_phi2_elastokin: \Delta\varphi_2 Elastokinematic model (eq. 31) [rad] Delta_ph...

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