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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