Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators
Many collaborative robots use strain-wave-type transmissions due to their desirable characteristics of high torque capacity and low weight. However, their inherent complex and nonlinear behavior introduces significant errors and uncertainties in the robot dynamics calibration, resulting in decreased...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2020-01-01
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| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/8709870 |