Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling

Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling

This paper presents a closed-loop calibration approach using impedance control. The process is managed by a data communication architecture based on open-source tools and designed for adaptability. The calibration procedure uses precision spheres and a kinematic coupling standard machine tool compon...

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Bibliographic Details
Main Authors: Nicholas A. Nadeau, Ilian A. Bonev, Ahmed Joubair
Format: Article
Language:English
Published: MDPI AG 2019-04-01
Series:Robotics
Subjects:
calibration
data processing
force control
impedance control
industrial communication
manufacturing, process, and service automation
optimization
physical human–robot interaction
redundant robots
robot control
Online Access:https://www.mdpi.com/2218-6581/8/2/33

Internet

https://www.mdpi.com/2218-6581/8/2/33

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