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Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots

Stolt, Andreas LU ; Bagge Carlson, Fredrik LU ; Ghazaei, Mahdi LU ; Lundberg, Ivan; Robertsson, Anders LU and Johansson, Rolf LU (2015) IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 In [Host publication title missing] p.3530-3537
Abstract
Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The... (More)
Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The lead-through programming is experimentally evaluated using two different industrial robots. (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
in
[Host publication title missing]
pages
8 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
external identifiers
  • scopus:84958167236
language
English
LU publication?
yes
id
f85d68c7-70b3-4be2-b8d0-391b1d91adeb (old id 8051527)
date added to LUP
2015-10-05 12:13:55
date last changed
2017-06-18 18:57:29
@inproceedings{f85d68c7-70b3-4be2-b8d0-391b1d91adeb,
  abstract     = {Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The lead-through programming is experimentally evaluated using two different industrial robots.},
  author       = {Stolt, Andreas and Bagge Carlson, Fredrik and Ghazaei, Mahdi and Lundberg, Ivan and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {[Host publication title missing]},
  language     = {eng},
  pages        = {3530--3537},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots},
  year         = {2015},
}