Designing Digital Twins of Robots Using Simscape Multibody

Autor: Giovanni Boschetti, Teresa Sinico

Publikováno v: Robotics, Vol 13, Iss 4, p 62 (2024)

Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully d

Externí odkaz: https://doaj.org/article/fcc665ab758140d5af8567caf2ee9f42

A CoppeliaSim Dynamic Simulator for the Da Vinci Research Kit

Autor: Marco Ferro, Alessandro Mirante, Fanny Ficuciello, Marilena Vendittelli

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b923b5b47f9e4508a9cd300241856b7e
https://hdl.handle.net/11573/1661364

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Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods

Autor: Fabrizio Flacco, Alessandro De Luca, Claudio Gaz

Publikováno v: ICRA

We consider the problem of extracting a complete set of numerical parameters that characterize the robot dynamics, starting from the identified values of dynamic coefficients that linearly parametrize the robot dynamic equations. This information is

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::074fcbbc6367224b210abc8558a24237
http://hdl.handle.net/11573/868988

Conference presentation of: Robot-Dynamic Calibration Improvement by Local Identification

Autor: Enrico Villagrossi

Publikováno v: 2014 IEEE International Conference on Robotics & Automation (ICRA), May 31-June 7
info:cnr-pdr/source/autori:Enrico Villagrossi/congresso_nome:2014 IEEE International Conference on Robotics & Automation (ICRA)/congresso_luogo:/congresso_data:May 31-June 7/anno:2014/pagina_da:/pagina_a:/intervallo_pagine

Notwithstanding the research on dynamic modelling of Industrial Robots (IRs hereafter) covers the last three decades, improvements are necessary to enable IRs adoption in technological tasks where high dynamics or interaction with environment is need

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=cnr_________::b79c1c9815f590ee71c5e5f3904ac921
http://www.cnr.it/prodotto/i/355983