Automatic calibration procedure for a robotic manipulator force observer

被引:0
|
作者
García, JG [1 ]
Robertsson, A [1 ]
Ortega, JG [1 ]
Johansson, R [1 ]
机构
[1] Lund Univ, Dept Automat Control, SE-22100 Lund, Sweden
关键词
self-calibrating robots; sensor fusion; observers; force control; robot control;
D O I
暂无
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
In this paper, we propose a method for self-calibration 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.
引用
收藏
页码:2703 / 2708
页数:6
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