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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
Department机器人学研究室
Conference Name2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
Conference DateJuly 19-23, 2018
Conference PlaceTianjin, China
Author of SourceIEEE Robotics & Automation Society
Source PublicationProceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
PublisherIEEE
Publication PlaceNew York
2018
Pages164-168
Indexed ByEI ; CPCI(ISTP)
EI Accession number20191806865274
WOS IDWOS:000468941800029
Contribution Rank1
ISSN2379-7711
ISBN978-1-5386-7056-9
AbstractIn 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
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/23852
Collection机器人学研究室
Corresponding AuthorHou C(侯澈)
Affiliation1.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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