AURT: A Tool for Dynamics Calibration of Robot Manipulators

TY - GEN

T1 - AURT: A Tool for Dynamics Calibration of Robot Manipulators

AU - Madsen, Emil

AU - Tola, Daniella

AU - Hansen, Carlos

AU - Gomes, Cláudio

AU - Larsen, Peter Gorm

PY - 2022/1

Y1 - 2022/1

N2 - We introduce AURT, an open-source software for modeling and calibration of robot manipulator dynamics. AURT includes rigid-body dynamics and a selection of joint dynamics models. The separation of the robot dynamics into rigid-body dynamics and joint dynamics allows for fast recalibration of the robot dynamics using different joint dynamics models. We evaluate the calibration performance using a Universal Robots UR5e robot manipulator. We also demonstrate how the joint dynamics models embedded in AURT outperforms the standard approach of the state of the art.

AB - We introduce AURT, an open-source software for modeling and calibration of robot manipulator dynamics. AURT includes rigid-body dynamics and a selection of joint dynamics models. The separation of the robot dynamics into rigid-body dynamics and joint dynamics allows for fast recalibration of the robot dynamics using different joint dynamics models. We evaluate the calibration performance using a Universal Robots UR5e robot manipulator. We also demonstrate how the joint dynamics models embedded in AURT outperforms the standard approach of the state of the art.

UR - http://www.scopus.com/inward/record.url?scp=85126220995&partnerID=8YFLogxK

U2 - 10.1109/SII52469.2022.9708769

DO - 10.1109/SII52469.2022.9708769

M3 - Article in proceedings

SP - 190

EP - 195

BT - 2022 IEEE/SICE International Symposium on System Integration, SII 2022

PB - IEEE

T2 - 2022 IEEE/SICE International Symposium on System Integration (SII)

Y2 - 9 January 2022 through 12 January 2022

ER -