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Methods of identifying the friction in the hinge of the manipulator arm or robot arm, and is used in the torque compensation method of the method
Methods of identifying the friction in the hinge of the manipulator arm or robot arm, and is used in the torque compensation method of the method
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机译:识别机械臂或机械臂的铰链中摩擦的方法,并用于该方法的扭矩补偿方法中
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摘要
An identification method for identifying the behavior of a hinge of a robot arm or of a manipulator arm, the method including the steps of selecting a behavior model linking the input torque and the output torque of the hinge depending on operating parameters, and of operating the hinge in such a manner as to measure several (input torque/output torque) operating points, and of performing a regression in order to identify the parameters of the model and thus to determine at least one of the direct or indirect characteristics of the hinge. The behavior model retained includes dry friction having a first component that does not depend on the output torque, and a second component that does depend on the output torque of the hinge.
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