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Automatic Calibration Procedure for a Robotic Manipulator Force Observer

Författare:
Publiceringsår: 2005
Språk: Engelska
Sidor: 2703-2708
Publikation/Tidskrift/Serie: Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Dokumenttyp: Konferensbidrag
Förlag: IEEE Press

Sammanfattning

In this paper, we propose a method for selfcalibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.

Disputation

Nyckelord

  • Technology and Engineering
  • Self-calibrating Robots
  • Observers
  • Robot Control
  • Force Control
  • Sensor Fusion

Övriga

IEEE International Conference on Robotics and Automation (ICRA)
2014-04-19
Barcelona, Spain
Published
Yes
  • ISBN: 0-7803-8914-X

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