Automatic Calibration Procedure for a Robotic Manipulator Force Observer

Javier Gámez García; Anders Robertsson; Juan Gómez Ortega; Rolf Johansson

Automatic Calibration Procedure for a Robotic Manipulator Force Observer

Javier Gámez García, Anders Robertsson, Juan Gómez Ortega, Rolf Johansson

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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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.

Original language	English
Title of host publication	Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	2703-2708
ISBN (Print)	0-7803-8914-X
Publication status	Published - 2005
Event	IEEE International Conference on Robotics and Automation, 2005 - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Conference

Conference	IEEE International Conference on Robotics and Automation, 2005
Abbreviated title	(ICRA)
Country/Territory	Spain
City	Barcelona
Period	2005/04/18 → 2005/04/22

Subject classification (UKÄ)

Control Engineering

Free keywords

Self-calibrating Robots
Observers
Robot Control
Force Control
Sensor Fusion

Access to Document

01570522

http://ieeexplore.ieee.org/iel5/10495/33250/01570522.pdf?tp=&arnumber=1570522&isnumber=33250

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RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
FlexAA
Johansson, R. (PI) & Nilsson, K. (PI)
2004/01/01 → 2006/12/31
Project: Research

RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Faculty of Engineering, LTH
Infrastructure

Cite this

Gámez García, J., Robertsson, A., Gómez Ortega, J., & Johansson, R. (2005). Automatic Calibration Procedure for a Robotic Manipulator Force Observer. In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on (pp. 2703-2708). IEEE - Institute of Electrical and Electronics Engineers Inc.. http://ieeexplore.ieee.org/iel5/10495/33250/01570522.pdf?tp=&arnumber=1570522&isnumber=33250

@inproceedings{fe00afc011d44593a91dc325112e7173,

title = "Automatic Calibration Procedure for a Robotic Manipulator Force Observer",

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.",

keywords = "Self-calibrating Robots, Observers, Robot Control, Force Control, Sensor Fusion",

author = "{G{\'a}mez Garc{\'i}a}, Javier and Anders Robertsson and {G{\'o}mez Ortega}, Juan and Rolf Johansson",

year = "2005",

language = "English",

isbn = "0-7803-8914-X",

pages = "2703--2708",

booktitle = "Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "IEEE International Conference on Robotics and Automation, 2005, (ICRA) ; Conference date: 18-04-2005 Through 22-04-2005",

}

Gámez García, J, Robertsson, A, Gómez Ortega, J & Johansson, R 2005, Automatic Calibration Procedure for a Robotic Manipulator Force Observer. in Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on. IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 2703-2708, IEEE International Conference on Robotics and Automation, 2005, Barcelona, Spain, 2005/04/18. <http://ieeexplore.ieee.org/iel5/10495/33250/01570522.pdf?tp=&arnumber=1570522&isnumber=33250>

Automatic Calibration Procedure for a Robotic Manipulator Force Observer. / Gámez García, Javier; Robertsson, Anders; Gómez Ortega, Juan et al.
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on. IEEE - Institute of Electrical and Electronics Engineers Inc., 2005. p. 2703-2708.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Automatic Calibration Procedure for a Robotic Manipulator Force Observer

AU - Gámez García, Javier

AU - Robertsson, Anders

AU - Gómez Ortega, Juan

AU - Johansson, Rolf

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

KW - Self-calibrating Robots

KW - Observers

KW - Robot Control

KW - Force Control

KW - Sensor Fusion

M3 - Paper in conference proceeding

SN - 0-7803-8914-X

SP - 2703

EP - 2708

BT - Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE International Conference on Robotics and Automation, 2005

Y2 - 18 April 2005 through 22 April 2005

ER -

Automatic Calibration Procedure for a Robotic Manipulator Force Observer

Abstract

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