Automatic Calibration Procedure for a Robotic Manipulator Force Observer
Författare
Summary, in English
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.
Avdelning/ar
Publiceringsår
2005
Språk
Engelska
Sidor
2703-2708
Publikation/Tidskrift/Serie
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Fulltext
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Länkar
Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Control Engineering
Nyckelord
- Self-calibrating Robots
- Observers
- Robot Control
- Force Control
- Sensor Fusion
Conference name
IEEE International Conference on Robotics and Automation, 2005
Conference date
2005-04-18 - 2005-04-22
Conference place
Barcelona, Spain
Status
Published
Projekt
- LU Robotics Laboratory
- FlexAA
ISBN/ISSN/Övrigt
- ISBN: 0-7803-8914-X