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Self-Calibrated Robotic Manipulator Force Observer

Gámez García, Javier; Robertsson, Anders LU ; Gómez Ortega, Juan and Johansson, Rolf LU (2009) In Robotics and Computer-Integrated Manufacturing 25(2). p.366-378
Abstract
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... (More)
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. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Self-calibrating robots, Force control, Sensor fusion, Robot control
in
Robotics and Computer-Integrated Manufacturing
volume
25
issue
2
pages
366 - 378
publisher
Elsevier
external identifiers
  • wos:000262147700011
  • scopus:63149111944
ISSN
0736-5845
DOI
10.1016/j.rcim.2008.02.003
language
English
LU publication?
yes
id
2b6e4544-380f-4a0c-9550-16aa511392aa (old id 1312960)
date added to LUP
2009-03-13 08:49:40
date last changed
2017-08-13 03:52:43
@article{2b6e4544-380f-4a0c-9550-16aa511392aa,
  abstract     = {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.},
  author       = {Gámez García, Javier and Robertsson, Anders and Gómez Ortega, Juan and Johansson, Rolf},
  issn         = {0736-5845},
  keyword      = {Self-calibrating robots,Force control,Sensor fusion,Robot control},
  language     = {eng},
  number       = {2},
  pages        = {366--378},
  publisher    = {Elsevier},
  series       = {Robotics and Computer-Integrated Manufacturing},
  title        = {Self-Calibrated Robotic Manipulator Force Observer},
  url          = {http://dx.doi.org/10.1016/j.rcim.2008.02.003},
  volume       = {25},
  year         = {2009},
}