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Self-Calibrated Robotic Manipulator Force Observer

Publiceringsår: 2009
Språk: Engelska
Sidor: 366-378
Publikation/Tidskrift/Serie: Robotics and Computer-Integrated Manufacturing
Volym: 25
Nummer: 2
Dokumenttyp: Artikel i tidskrift
Förlag: Elsevier


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.


  • Control Engineering
  • Self-calibrating robots
  • Force control
  • Sensor fusion
  • Robot control


  • LCCC-lup-obsolete
  • ISSN: 0736-5845

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