This paper presents results from using the discrete-time transfer matrix method (DT-TMM) to model flexible robots under feedback control. The DT-TMM is powerful, but not very well known. DT-TMM analysis is very computationally efficient because the dimensions of the transfer matrices remain small regardless of the number of elements in the model. The system… (More)
Robot arms carry a unique set of challenges with setup for use with inverse kinematics. An automated calibration for such robots would prove beneficial. A solution is discussed utilizing accelerometer feedback on the tip of a robot arm and an automated calibration routine.