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Jun 6, 2025
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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... |
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... |
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... |
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... |
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... |
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... |
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... |
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... |
