Gravity Identification and Online Compensation of Robot End-Effector Based on Laser Tracker
To measure the real assembly force of industrial robots precisely in aircraft assembly,a method of gravity identification and online compensation for the robot end-effector based on the laser tracker is proposed.With the help of external measuring equipment such as a laser tracker,the global kinematics model of the robot system is set up to realize the accurate acquisition of the end-effector pose of the robot.Then,Kalman filtering is utilized to process the force/torque signal to obtain more exact and stable external information,and the relationship between the gravity component and the pose of the end-effector is established,considering the influence of the zero-point bias of the sensor and the error of the robot installation.Finally,an online gravity compensation experiment of the robot end-effector is conducted and demonstrates the effectiveness of the proposed method.
Industrial robotLaser trackerAssembly force measurementGravity identificationOnline compensation
NETL
NSTL
万方数据
维普
