File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: On-line and simultaneous calibration of wrist-mounted Force/Torque sensor and tool Forces/Torques for manipulation

TitleOn-line and simultaneous calibration of wrist-mounted Force/Torque sensor and tool Forces/Torques for manipulation
Authors
Issue Date2013
Citation
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 2013, p. 619-624 How to Cite?
AbstractAccurate force/torque (F/T) information is essentially important for a robot manipulator to regulate the contact forces and torques exerted on its tool (end-effector). For a manipulator with mounted F/T sensor, the tool and the F/T sensor are connected to the manipulator via some components, of which many parameters such as mounting errors and component's weight are unknown. As a result, the forces and torques exerted upon the work point of the tool of a manipulator is not what directly sensed by the F/T sensor, and thus the F/T sense of the manipulator need to be recalibrated even though the mounted F/T sensor had been calibrated in advance. Also the unknown parameters introduce challenges to the on-line recalibration of the F/T sense of the manipulator. This paper proposes an on-line method to calibrate the forces/torques exerted upon the tool of a manipulator with wrist-mounted F/T sensor. The method can calibrate both of them using only one reference weight and without need to dismantle the F/T sensor and tool. It provides an efficient and convenient way to calibrate an integrated F/T system. Theory analysis and experiment result are presented to demonstrate the effectiveness of the method. © 2013 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/213394

 

DC FieldValueLanguage
dc.contributor.authorGong, Daoxiong-
dc.contributor.authorJia, Yunyi-
dc.contributor.authorCheng, Yu-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:07:08Z-
dc.date.available2015-07-28T04:07:08Z-
dc.date.issued2013-
dc.identifier.citation2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 2013, p. 619-624-
dc.identifier.urihttp://hdl.handle.net/10722/213394-
dc.description.abstractAccurate force/torque (F/T) information is essentially important for a robot manipulator to regulate the contact forces and torques exerted on its tool (end-effector). For a manipulator with mounted F/T sensor, the tool and the F/T sensor are connected to the manipulator via some components, of which many parameters such as mounting errors and component's weight are unknown. As a result, the forces and torques exerted upon the work point of the tool of a manipulator is not what directly sensed by the F/T sensor, and thus the F/T sense of the manipulator need to be recalibrated even though the mounted F/T sensor had been calibrated in advance. Also the unknown parameters introduce challenges to the on-line recalibration of the F/T sense of the manipulator. This paper proposes an on-line method to calibrate the forces/torques exerted upon the tool of a manipulator with wrist-mounted F/T sensor. The method can calibrate both of them using only one reference weight and without need to dismantle the F/T sensor and tool. It provides an efficient and convenient way to calibrate an integrated F/T system. Theory analysis and experiment result are presented to demonstrate the effectiveness of the method. © 2013 IEEE.-
dc.languageeng-
dc.relation.ispartof2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013-
dc.titleOn-line and simultaneous calibration of wrist-mounted Force/Torque sensor and tool Forces/Torques for manipulation-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBIO.2013.6739528-
dc.identifier.scopuseid_2-s2.0-84898771922-
dc.identifier.spage619-
dc.identifier.epage624-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats