中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Gravity Compensation of KUKA LBR IIWA through Fast Robot Interface

文献类型:会议论文

作者Zhao YW(赵忆文)1; Hou C(侯澈)1,3; Wang, Junchen2
出版日期2018
会议日期July 19-23, 2018
会议地点Tianjin, China
页码164-168
英文摘要In this paper KUKA’s Fast Robot Interface (FRI) is applied to design and implement a torque control with gravity compensation for the direct teching task on the KUKA LBR IIWA. We seek torque control method with more accurate gravity compensation to replace the original KUKA internal controller with a large compensation error. In order to accurately compensate the gravity of robot, this paper proposes a method of parameter identification based on QR decomposition and least squares theory and completes the parameter identification process. Then, the desired torque generated by accurate gravity compensation is delivered to the torque controller via FRI. The accuracy of gravity compensation results is verified by experiments.
源文献作者IEEE Robotics & Automation Society
产权排序1
会议录Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
会议录出版者IEEE
会议录出版地New York
语种英语
ISBN号978-1-5386-7056-9
源URL[http://ir.sia.cn/handle/173321/23852]  
专题沈阳自动化研究所_机器人学研究室
通讯作者Hou C(侯澈)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, the Chinese Academy of Sciences (CAS), Liaoning, China
2.School of Mechanical Engineering & Automation, Beihang University, Beijing, China
3.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Zhao YW,Hou C,Wang, Junchen. Gravity Compensation of KUKA LBR IIWA through Fast Robot Interface[C]. 见:. Tianjin, China. July 19-23, 2018.

入库方式: OAI收割

来源:沈阳自动化研究所

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