381 to 390 of 2,750 Results
Tabular Data - 72.0 KB - 4 Variables, 999 Observations - UNF:6:QMCDnGyWlNJsgKXDsmbBig==
Elastokinematic estimation in theta' (motor encoder values mapped to the output shaft) of the regression data set.
[x_LT_T_elastokin, y_LT_T_elastokin, z_LT_T_elastokin]^\top can be calculated with eq. 32 by applying the parameters estimated with eq. 33.
x_LT_T_elastokin: x value [m]
y_LT_T_elastokin: y value [m]
z_LT_T_elastokin: z value [m]
e_2n... |
Tabular Data - 28.2 KB - 4 Variables, 391 Observations - UNF:6:bZxgphx/37PhcDkls6wXFw==
Elastokinematic estimation in theta' (motor encoder values mapped to the output shaft) of the validation data set.
[x_LT_T_elastokin, y_LT_T_elastokin, z_LT_T_elastokin]^\top can be calculated with eq. 32 by applying the parameters estimated with eq. 33. {}^{LT}_H_0 and {}^6_H_T were obtained through regression, as the positioning of the laser tr... |
Tabular Data - 6.2 KB - 4 Variables, 91 Observations - UNF:6:sIeNYR85EAp9jV/qEINfqg==
Friction experiment to show the local dependency; described in Sec III.C
q2: q_2 [rad]
vel: constant velocity of the third joint
fric_meas: right hand side of (21a), mapped to the outpus shaft (*gearbox ratio)
fric_model: LSQ fit (eq 21c), mapped to the output shaft (*gearbox ratio)
Used in figure 6 |
Tabular Data - 128.7 KB - 17 Variables, 412 Observations - UNF:6:GaNzld3EG0Md1R5TNT/PRw==
Gearbox stiffness identification, using SE (Sec III.C)
g_2: gravitational vector of q2 [Nm]
tau_gc: \tau_{gc}: gravity compensation torque [Nm]
tau_g3: = g_3; joint torque/gravitation vector of q3 [Nm]
deltaPhi2_meas: \Delta\varphi_2, measured, shifted + 0.02 rad [rad]
deltaPhi2_model: \Delta\varphi_2, model, shifted + 0.02 rad [rad]
deltaPhi3_meas... |
Tabular Data - 525 B - 3 Variables, 12 Observations - UNF:6:fGFzh53j1b7FaMnRotrWIQ==
Identified Parameters of Section 3.c;
two constant term lambda_{2,0} and lambda_{3,0} were added. However, these quantities are not considered in the lasertracker optimization, because these are implicit in \delta rho_i. Nevertheless, these values are needed for the LSQ optimization. |
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... |