| Gravity Compensation of KUKA LBR IIWA through Fast Robot Interface | |
Hou C(侯澈)1,2 ; Zhao YW(赵忆文)1; Wang JC(王君臣)3
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| Department | 机器人学研究室 |
| Conference Name | 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems |
| Conference Date | July 19-23, 2018 |
| Conference Place | Tianjin, China |
| Author of Source | IEEE Robotics & Automation Society |
| Source Publication | Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems |
| Publisher | IEEE |
| Publication Place | New York |
| 2018 | |
| Pages | 164-168 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20191806865274 |
| WOS ID | WOS:000468941800029 |
| Contribution Rank | 1 |
| ISSN | 2379-7711 |
| ISBN | 978-1-5386-7056-9 |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/23852 |
| Collection | 机器人学研究室 |
| Corresponding Author | Hou C(侯澈) |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, the Chinese Academy of Sciences (CAS), Liaoning, China 2.University of Chinese Academy of Sciences, Beijing, China 3.School of Mechanical Engineering & Automation, Beihang University, Beijing, China |
| Recommended Citation GB/T 7714 | Hou C,Zhao YW,Wang JC. Gravity Compensation of KUKA LBR IIWA through Fast Robot Interface[C]//IEEE Robotics & Automation Society. New York:IEEE,2018:164-168. |
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| Gravity Compensation（1800KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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