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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 orcid (2015) IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 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)
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author
; ; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
pages
8 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
conference location
Hamburg, Germany
conference dates
2015-09-28 - 2015-10-02
external identifiers
  • scopus:84958167236
DOI
10.1109/IROS.2015.7353870
project
RobotLab LTH
language
English
LU publication?
yes
additional info
key=stolt_etal_iros15 month=09--10
id
f85d68c7-70b3-4be2-b8d0-391b1d91adeb (old id 8051527)
date added to LUP
2016-04-04 11:40:07
date last changed
2024-01-13 01:41:36
@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    = {{2015 IEEE/RSJ International Conference on  Intelligent Robots and Systems (IROS)}},
  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}},
  url          = {{https://lup.lub.lu.se/search/files/5827355/8051548.pdf}},
  doi          = {{10.1109/IROS.2015.7353870}},
  year         = {{2015}},
}