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Automatic Calibration Procedure for a Robotic Manipulator Force Observer

Gámez García, Javier; Robertsson, Anders LU ; Gómez Ortega, Juan and Johansson, Rolf LU (2005) IEEE International Conference on Robotics and Automation, 2005 In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on 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)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Self-calibrating Robots, Observers, Robot Control, Force Control, Sensor Fusion
in
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
external identifiers
  • wos:000235460102052
  • scopus:33846172004
ISBN
0-7803-8914-X
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
2007-09-18 08:30:15
date last changed
2017-01-01 07:55:02
@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},
  keyword      = {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},
  year         = {2005},
}