Automatic Calibration Procedure for a Robotic Manipulator Force Observer
(2005) IEEE International Conference on Robotics and Automation, 2005 p.2703-2708- Abstract
- In this paper, we propose a method for selfcalibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate... (More)
- In this paper, we propose a method for selfcalibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. 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/535728
- 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
- Self-calibrating Robots, Observers, Robot Control, Force Control, Sensor Fusion
- host publication
- Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
- pages
- 2703 - 2708
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE International Conference on Robotics and Automation, 2005
- conference location
- Barcelona, Spain
- conference dates
- 2005-04-18 - 2005-04-22
- external identifiers
-
- wos:000235460102052
- scopus:33846172004
- ISBN
- 0-7803-8914-X
- project
- RobotLab LTH
- FlexAA
- language
- English
- LU publication?
- yes
- id
- fe00afc0-11d4-4593-a91d-c325112e7173 (old id 535728)
- alternative location
- http://ieeexplore.ieee.org/iel5/10495/33250/01570522.pdf?tp=&arnumber=1570522&isnumber=33250
- date added to LUP
- 2016-04-04 09:55:21
- date last changed
- 2023-01-05 21:23:41
@inproceedings{fe00afc0-11d4-4593-a91d-c325112e7173, abstract = {{In this paper, we propose a method for selfcalibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. 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 = {{Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on}}, isbn = {{0-7803-8914-X}}, keywords = {{Self-calibrating Robots; Observers; Robot Control; Force Control; Sensor Fusion}}, language = {{eng}}, pages = {{2703--2708}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Automatic Calibration Procedure for a Robotic Manipulator Force Observer}}, url = {{https://lup.lub.lu.se/search/files/5419235/625574.pdf}}, year = {{2005}}, }