AURT: A Tool for Dynamics Calibration of Robot Manipulators*

Emil Madsen,Daniella Tola, Carlos Hansen,Cláudio Gomes,Peter Gorm Larsen

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

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摘要

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 U...

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关键词

System integration,Calibration,Manipulator dynamics,Standards,Open source software

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