Fig. 1 6-axis robotic base platform
Fig. 2 Geometry of a robotic base platform
Fig. 3 Block diagram of the 6-axis force/moment measurement
Fig. 4 System configuration of the robotic base platform
Fig. 5 Calibration program using Simulink and xPC
Fig. 6 Force/moment measurement experiment setup
Fig. 7 Joint calibration experiment of loadcell #1
Fig. 8 Cartesian calibration experiment of the base platform
Fig. 9 External wrench detection algorithm
Fig. 10 Modeling of link masses of a 6-DOF robot
Fig. 11 Kinematic model of a 6-DOF robot
Fig. 13 Measured and calculated wrench along x-axis
Fig. 12 Measurement experiment of a 6-DOF robot arm mounted on the base platform
Fig. 14 Measured and calculated wrench along y-axis
Fig. 15 Measured and calculated wrench along z-axis
Fig. 16 Trajectory planning of a 6-DOF robot
Fig. 17 Comparison of
Table 1. Design parameters of a Robotic Base Platform
Table 2. Max. force/moment measurement range
Table 3. Joint calibration result of loadcells
Table 4. Cartesian calibration result of the base platform
Table 5. Link masses of a 6-DOF robot
Table 6. D-H Parameters of a 6-DOF robot
Table 7. Max. wrench error between
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