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Self-Calibrated Robotic Manipulator Force Observer

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Author

Summary, in English

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.

Publishing year

2009

Language

English

Pages

366-378

Publication/Series

Robotics and Computer-Integrated Manufacturing

Volume

25

Issue

2

Document type

Journal article

Publisher

Elsevier

Topic

  • Control Engineering

Keywords

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

Status

Published

Project

  • LU Robotics Laboratory
  • ProFlexa

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 0736-5845