Institute for Control Engineering of Machine Tools and Manufacturing Units

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371 to 380 of 2,778 Results

hybrid_robust_inverse_v200.csv Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling Comma Separated Values - 917.5 KB - MD5: fcbc68c72ee9f4732cfd971a1a352863
setup.txt Jun 16, 2025 - Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling Plain Text - 391 B - MD5: b1f4b1f7e031f50d073d575068a1b62a
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
Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots May 28, 2025 - 2023_DFG_RCAL-IMS Dzubba, Marcel, 2025, "Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots", https://doi.org/10.18419/DARUS-4118, DaRUS, V1, UNF:6:zienI5zq/UH4/+DnUSkN+A== [fileUNF] Industrial robots are relatively inexpensive, compared to conventional machining tools. However, they suffer in terms of positioning and tracking accuracy. To overcome this issue, laser trackers can be used to calibrate the robot or even for positioning control. The spherically mounted reflector used must always be visible to the laser tracker. The...
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...

hybrid_robust_inverse_v200.csv

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

Comma Separated Values - 917.5 KB -

setup.txt

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

Plain Text - 391 B -

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 -

Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

May 28, 2025 - 2023_DFG_RCAL-IMS

Dzubba, Marcel, 2025, "Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots", https://doi.org/10.18419/DARUS-4118, DaRUS, V1, UNF:6:zienI5zq/UH4/+DnUSkN+A== [fileUNF]

Industrial robots are relatively inexpensive, compared to conventional machining tools. However, they suffer in terms of positioning and tracking accuracy. To overcome this issue, laser trackers can be used to calibrate the robot or even for positioning control. The spherically mounted reflector used must always be visible to the laser tracker. The...

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...

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