A Base Force/Torque Sensor Approach to Robot Manipulator Inertial Parameter Estimation
نویسندگان
چکیده
A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint kiction and actuator dynamics. The manipulator is mounted on a six-axis forcehorque sensor. Sensor measurements and joint velocities recorded during manipulator motion are used to identify the inertial parameters. The unmodeled joint piction and actuator dynamics do not degrade the estimation results, as in conventional methods. The estimation algorithm does not require d$$cult-tomeasure acceleration measurements. Experimental results presented show that an accurate estimation of inertia parameters is attainable. Since the sensor is external to the manipulator, the same sensor can be used for parameter estimation for a number of different systems.
منابع مشابه
Design of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators
This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...
متن کاملExperimental robot and payload identification with application to dynamic trajectory compensation
Industrial robot manipulators have become an indispensable means of automation to increase flexibility and productivity. The ever increasing quality standards and new applications impose higher requirements on accuracy, reliability and performance. Due to the complex nonlinear robot dynamics, the design of robot controllers should include accurate dynamic robot models. Robot identification is a...
متن کاملThe precise control of manipulators with joint friction: a base force/torque sensor method
Joint friction is a major problem in accurately controlling robot position during manipulator tasks involving small and slow motions. Previous research in this field suggests the use of either complex modeling and identification techniques, or expensive and delicate torque sensors that must be integrated into the manipulator. This paper proposes a simple, cost-effective method for compensating ...
متن کاملDisturbance Observer Based Force Control of Robot Manipulator without Force Sensor
In this paper, a force estimation method is proposed for force control without force sensor. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to internal torque, the disturbance obser...
متن کاملFlexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کامل