Self Calibrating Procedure for a 3D Force Observer
(2005) p.6812-6817- Abstract
- In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamicsof the end effector and manipulator. To solve this problem,an observer, which fuses information from force sensors andaccelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by... (More)
- In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamicsof the end effector and manipulator. To solve this problem,an observer, which fuses information from force sensors andaccelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. The experiments were carried out on an ABB industrial robot with open control system architecture. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/535825
- author
- Gámez García, Javier ; Robertsson, Anders LU ; Gómez Ortega, Juan and Johansson, Rolf LU
- organization
- publishing date
- 2005
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Robot, Observers, Self-calibrating, Robots, Sensor Fusion, Control, Force Control
- host publication
- Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05.
- pages
- 6812 - 6817
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- scopus:33847194973
- ISBN
- 0-7803-9567-0
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 56a691d3-9fe3-4866-98a2-40086fe45ab8 (old id 535825)
- alternative location
- http://ieeexplore.ieee.org/xpls/abs_all.jsp?isnumber=33412&arnumber=1583257&count=1407&index=1144
- date added to LUP
- 2016-04-04 11:19:23
- date last changed
- 2023-01-05 23:47:37
@inproceedings{56a691d3-9fe3-4866-98a2-40086fe45ab8, abstract = {{In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamicsof the end effector and manipulator. To solve this problem,an observer, which fuses information from force sensors andaccelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. The experiments were carried out on an ABB industrial robot with open control system architecture.}}, author = {{Gámez García, Javier and Robertsson, Anders and Gómez Ortega, Juan and Johansson, Rolf}}, booktitle = {{Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05.}}, isbn = {{0-7803-9567-0}}, keywords = {{Robot; Observers; Self-calibrating; Robots; Sensor Fusion; Control; Force Control}}, language = {{eng}}, pages = {{6812--6817}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Self Calibrating Procedure for a 3D Force Observer}}, url = {{https://lup.lub.lu.se/search/files/5746712/625590.pdf}}, year = {{2005}}, }