Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots
(2015) IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 p.3530-3537- Abstract
- Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The... (More)
- Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The lead-through programming is experimentally evaluated using two different industrial robots. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8051527
- author
- Stolt, Andreas LU ; Bagge Carlson, Fredrik LU ; Ghazaei, Mahdi LU ; Lundberg, Ivan ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2015
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- pages
- 8 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
- conference location
- Hamburg, Germany
- conference dates
- 2015-09-28 - 2015-10-02
- external identifiers
-
- scopus:84958167236
- DOI
- 10.1109/IROS.2015.7353870
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- additional info
- key=stolt_etal_iros15 month=09--10
- id
- f85d68c7-70b3-4be2-b8d0-391b1d91adeb (old id 8051527)
- date added to LUP
- 2016-04-04 11:40:07
- date last changed
- 2024-01-13 01:41:36
@inproceedings{f85d68c7-70b3-4be2-b8d0-391b1d91adeb, abstract = {{Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The lead-through programming is experimentally evaluated using two different industrial robots.}}, author = {{Stolt, Andreas and Bagge Carlson, Fredrik and Ghazaei, Mahdi and Lundberg, Ivan and Robertsson, Anders and Johansson, Rolf}}, booktitle = {{2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}}, language = {{eng}}, pages = {{3530--3537}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots}}, url = {{https://lup.lub.lu.se/search/files/5827355/8051548.pdf}}, doi = {{10.1109/IROS.2015.7353870}}, year = {{2015}}, }