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EAST Articulated Maintenance Arm is an articulated serial robot arm for inspection and maintenance in an experimental advanced superconductor tokamak. This paper implements soft computing algorithm for software calibration and compensation of pitch joint movement. An adaptive neurofuzzy inference system is applied to forecast the disclosed hysteresis loop compensation data. Joint position accuracy...
EAMA (EAST Articulated Maintenance Arm) is an articulated serial robot arm working in experimental advanced superconductor tokamak for inspection and maintenance. This paper implements an algorithm to calibrate the segment position compensation error and estimateits signal. First, the error model is curve fitted, which has unneglectable nonlinearities. Second, extended Kalman filter is adapted toaccurate...
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