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Self-Calibrated Robotic Manipulator Force Observer

Författare:
Publiceringsår: 2008
Språk: Engelska
Publikation/Tidskrift/Serie: Robotics and Computer-Integrated Manufacturing
Dokumenttyp: Artikel

Sammanfattning

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 on 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 of
fers 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 Stäubli robot, both with open control system architectures. An impedance control scheme was used as force/position control law.

Disputation

Nyckelord

  • Technology and Engineering
  • Self-calibrating robots
  • Force control
  • Robot control
  • Sensor fusion

Övrigt

Published
Yes
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