51 to 60 of 2,475 Results
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... |
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... |
