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

Andreas Stolt; Fredrik Bagge Carlson; Mahdi Ghazaei; Ivan Lundberg; Anders Robertsson; Rolf Johansson

doi:10.1109/IROS.2015.7353870

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

Andreas Stolt, Fredrik Bagge Carlson, Mahdi Ghazaei, Ivan Lundberg, Anders Robertsson, Rolf Johansson

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

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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.

Original language	English
Title of host publication	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	3530-3537
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2015.7353870
Publication status	Published - 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 - Hamburg, Hamburg, Germany Duration: 2015 Sept 28 → 2015 Oct 2

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
Abbreviated title	IROS2015
Country/Territory	Germany
City	Hamburg
Period	2015/09/28 → 2015/10/02

Bibliographical note

key=stolt_etal_iros15
month=09--10

Subject classification (UKÄ)

Control Engineering
Robotics and automation

Access to Document

10.1109/IROS.2015.7353870

leadthroughpaperAccepted author manuscript, 2.8 MB

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

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Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
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Cite this

Stolt, A., Bagge Carlson, F., Ghazaei, M., Lundberg, I., Robertsson, A., & Johansson, R. (2015). Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3530-3537). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353870

@inproceedings{f85d68c770b34be2b8d0391b1d91adeb,

title = "Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots",

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 = "Andreas Stolt and {Bagge Carlson}, Fredrik and Mahdi Ghazaei and Ivan Lundberg and Anders Robertsson and Rolf Johansson",

note = "key=stolt_etal_iros15 month=09--10; IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015, IROS2015 ; Conference date: 28-09-2015 Through 02-10-2015",

year = "2015",

doi = "10.1109/IROS.2015.7353870",

language = "English",

pages = "3530--3537",

booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

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

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}

Stolt, A, Bagge Carlson, F, Ghazaei, M, Lundberg, I, Robertsson, A & Johansson, R 2015, Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots. in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 3530-3537, IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015, Hamburg, Germany, 2015/09/28. https://doi.org/10.1109/IROS.2015.7353870

Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots. / Stolt, Andreas; Bagge Carlson, Fredrik; Ghazaei, Mahdi et al.
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE - Institute of Electrical and Electronics Engineers Inc., 2015. p. 3530-3537.

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

TY - GEN

T1 - Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots

AU - Stolt, Andreas

AU - Bagge Carlson, Fredrik

AU - Ghazaei, Mahdi

AU - Lundberg, Ivan

AU - Robertsson, Anders

AU - Johansson, Rolf

N1 - key=stolt_etal_iros15 month=09--10

PY - 2015

Y1 - 2015

N2 - 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.

AB - 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.

U2 - 10.1109/IROS.2015.7353870

DO - 10.1109/IROS.2015.7353870

M3 - Paper in conference proceeding

SP - 3530

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BT - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015

Y2 - 28 September 2015 through 2 October 2015

ER -

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

Abstract

Conference

Bibliographical note

Subject classification (UKÄ)

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