Self-Calibrated Robotic Manipulator Force Observer
Författare
Summary, in English
In the robotic manipulation context, end-effector contact forces may be difficult to measure mainly due to the tool dynamic interferences Such as the inertial forces. In this paper, a whole methodology is proposed to estimate these forces. The new approach is based oil a sensor fusion technique that integrates the information of a wrist force sensor. of a 3D accelerometer placed at the robot tool and the joint position sensors measurements. The proposed methodology not only offers a Suitable estimator in terms of response and filtering, but also presents a self-calibrating feature that allows an easy integration into any industrial setup. To experimentally validate the performance of the proposed methodology, two different industrial manipulators were used: an ABB robot and a Staubli robot, both with open control system architectures. An impedance control scheme Was used as force/position control law to demonstrate the need and results of the proposed calibration result. (c) 2008 Elsevier Ltd. All rights reserved.
Avdelning/ar
Publiceringsår
2009
Språk
Engelska
Sidor
366-378
Publikation/Tidskrift/Serie
Robotics and Computer-Integrated Manufacturing
Volym
25
Issue
2
Dokumenttyp
Artikel i tidskrift
Förlag
Elsevier
Ämne
- Control Engineering
Nyckelord
- Self-calibrating robots
- Force control
- Sensor fusion
- Robot control
Status
Published
Projekt
- LU Robotics Laboratory
- ProFlexa
Forskningsgrupp
- LCCC
ISBN/ISSN/Övrigt
- ISSN: 0736-5845