Calibration of the pose parameters between coupled 6-axis F/T sensors in robotics applications

Robotics and Autonomous Systems - Tập 89 - Trang 1-8 - 2017
Jari M. Ahola1, Tuomas Seppälä1, Jukka Koskinen1, Tapio Heikkilä1
1VTT Technical Research Centre of Finland Ltd, Oulu, Finland

Tài liệu tham khảo

D. Surdilovic, H. Zhao, G. Schreck, J. Krueger, Advanced methods for small batch robotic machining of hard materials, in: Proceedings of ROBOTIK 2012, 7th German Conference on, 2012, pp. 1–6 H. Zhang, H. Chen, et al., On-lien path generation for robotic deburring of cast aluminium wheels, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 9–15, Beijing, China, 2006 Pan, 2008, Robotic machining from programming to process control: a complete solution by force control, Ind. Robot Int. J., 35, 400, 10.1108/01439910810893572 Stepien, 1987, Control of tool/workpiece contact force with application to robotic deburring, IEEE J. Robot. Autom., RA-3, 10.1109/JRA.1987.1087077 M. Yamataka, T. Kuga, T. Takayama, M. Furukawa, J. Ischida, Robot assembly system for LCD TV using cooperative force control, in: Proceedings of the 4th World Congress on Intelligent Control and Automation, Vol 2, 2002, pp. 1343–1346 D. Surdilovic, F. Grassini, M. De Bartolomei, Synthesis of impedance control for complex co-operating robot assembly task, in: 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, 8–12 July 2001, Como, Italy, pp. 1181–1186. Carignan, 2006, Telerehabilitation robotics: Bright lights, big future?, JRRD J. Rehabil. Res. Dev., 43, 695, 10.1682/JRRD.2005.05.0085 Song, 2015, Adaptive motion control of arm rehabilitation robot based on impedance identification, Robotica, 33, 1795, 10.1017/S026357471400099X G. Niemeyer, Using wave variables in time delayed force reflecting teleoperation (Doctoral thesis), Massachusetts Institute of Technology, 1996 Marcelo, 1999, A walk-through programmed robot for welding in shipyards, Ind. Robot Int. J., 26, 377, 10.1108/01439919910284000 Pires, 2009, Programming-by-demonstration in the coworker scenario for SMEs, Ind. Robot Int. J., 36, 73, 10.1108/01439910910924693 D.R. Myers, M.J. Pritchard, M.D.J. Brown, Automated programming of an industrial robot through teach-by showing, in: Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, vol.4, 2001, pp. 4078–4083 K.Y. Lee, S.Y. Lee, J.H. Choi, S.H. Lee, C.S. Han, The application of the human–robot cooperative system for construction robot manupulating and installing heavy materials, in: SICE-ICASE International Joint Conference 2006, Oct. 18–21, 2006 in Bexco, Busan, Korea, pp. 4798–4802 J.M. Ahola, J. Koskinen, T. Seppala, T. Heikkilä, Development of impedance control for human/robot interactive handling of heavy parts and loads, in: 2015 ASME/IEEE International Conference on Mechatronics and Embedded Systems and Applications (MESA). Aug 2–5 in Boston, MA, USA Malm T. Heikkilä, J.M. Ahola, Safety Assessment process for human-robot handling tasks, in: 2015 ASME/IEEE International Conference on Mechatronics and Embedded Systems and Applications (MESA), Aug 2–5 in Boston, MA, USA R.D. Schraft, C. Meyer, C. Parlitz, E. Helms, PowerMate—A safe and intuitive robot assistant for handling and assembly tasks, in: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barchelona, Spain, April 2005 Ma, 2013, Fast estimation of strains for cross-beams six axis force/torque sensors by mechanical modeling, Sensors, 13, 6669, 10.3390/s130506669 Song, 2007, A Novel self-decoupled four degree-of-freedom wrist force/torque sensor, Measurement, 40, 883, 10.1016/j.measurement.2006.11.018 Ma, 2012, A Robust decoupling algorithm for 3-axis force sensors based on coupling error model and ϵ-SVR, Sensors, 12, 14537, 10.3390/s121114537 Ma, 2013, Dynamic compensation for two-axis robot wrist force sensors, J. Sensors, 10.1155/2013/357396 Bicchi, 1990 J.K. Salisbury, Interpretation of contact geometries from force measurements, in: Proceedings 1984 IEEE International Conference on Robotics and Automation, pp. 240–247 X. Zhou, Q. Shi, Z. Li, Contact localization using force/torque measurements, in: Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 1339–344 Tsujimura, 1989, Object detection by tactile sensing method employing force/torque information, IEEE Trans. Robot. Automat., 5, 444, 10.1109/70.88059 Tsai, 1989, A new technique for fully autonomous and efficient 3D robotics hand/eye calibration, IEEE Trans. Robot. Autom., 5, 345, 10.1109/70.34770 Brunete, 2016, Intuitive task level programming with on-line path guidance, Ind. Robot