Nadeau, Nicholas A., Bonev, Ilian A. et Joubair, Ahmed.
2019.
« Impedance control self-calibration of a collaborative robot using kinematic coupling ».
Robotics, vol. 8, nº 2.
Compte des citations dans Scopus : 9.
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Résumé
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 $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 mm, 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 µm over the impedance control approach.
| Type de document: | Article publié dans une revue, révisé par les pairs |
|---|---|
| Professeur: | Professeur Bonev, Ilian |
| Affiliation: | Génie des systèmes |
| Date de dépôt: | 14 nov. 2019 20:17 |
| Dernière modification: | 18 nov. 2019 20:06 |
| URI: | https://espace2.etsmtl.ca/id/eprint/19784 |
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