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Self Calibrating Procedure for a 3D Force Observer

Gámez García, Javier; Robertsson, Anders LU ; Gómez Ortega, Juan and Johansson, Rolf LU (2005) In Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Robot, Observers, Self-calibrating, Robots, Sensor Fusion, Control, Force Control
in
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
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
2007-09-18 08:31:23
date last changed
2017-01-01 08:02:37
@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},
  keyword      = {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},
  year         = {2005},
}