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  • 标题:Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling
  • 本地全文:下载
  • 作者:Nicholas A. Nadeau ; Ilian A. Bonev ; Ahmed Joubair
  • 期刊名称:Robotics
  • 电子版ISSN:2218-6581
  • 出版年度:2019
  • 卷号:8
  • 期号:2
  • 页码:1-18
  • DOI:10.3390/robotics8020033
  • 出版社:MDPI Publishing
  • 摘要:This paper presents a closed-loop calibration approach using impedance control. The process is managed by a data communication architecture based on open-source tools and designed for adaptability. The calibration procedure uses precision spheres and a kinematic coupling standard machine tool components, which are suitable for harsh industrial environments. As such, the required equipment is low cost (approximately group-separator = , 2000 [$]USD), robust, and is quick to set up, especially when compared to traditional calibration devices. As demonstrated through an experimental study and validated with a laser tracker, the absolute accuracy of the KUKA LBR iiwa robot was improved to a maximum error of 0 . 990 , representing a 58.4% improvement when compared to the nominal model. Further testing showed that a traditional calibration using a laser tracker only improved the maximum error by 58 μ m over the impedance control approach.
  • 关键词:calibration; data processing; force control; impedance control; industrial communication; manufacturing; process; and service automation; optimization; physical human–robot interaction; redundant robots; robot control calibration ; data processing ; force control ; impedance control ; industrial communication ; manufacturing; process; and service automation ; optimization ; physical human–robot interaction ; redundant robots ; robot control
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