Detection of Mechanical Play of Revolute Robot Joint
Radim Luza, František Zbořil · 2014
This article introduces a method of detection of mechanical play of revolute joint based on recognition of impacts caused by the play. The method uses inexpensive acceleration measuring device with limited sampling frequency. The impact is recognized indirecly according to oscillation of mechanical oscilator. The method was tested on real servo drive Dynamixel AX-12A.