Self-calibrated robotic manipulator force observer

被引:16
|
作者
Garcia, J. Gamez [1 ]
Robertsson, A. [2 ]
Ortega, J. Gomez [1 ]
Johansson, R. [2 ]
机构
[1] Univ Jaen, Dept Syst Engn & Automat, Jaen, Spain
[2] Lund Univ, LTH, Dept Automat Control, S-22100 Lund, Sweden
关键词
Force control; Sensor fusion; Self-calibrating robots; Robot control; SENSOR;
D O I
10.1016/j.rcim.2008.02.003
中图分类号
TP39 [计算机的应用];
学科分类号
081203 ; 0835 ;
摘要
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.
引用
收藏
页码:366 / 378
页数:13
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