Gravity Compensation of KUKA LBR IIWA through Fast Robot Interface

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	Gravity Compensation of KUKA LBR IIWA through Fast Robot Interface
	Zhao YW(赵忆文)1 ; Hou C(侯澈)1,3 ; Wang, Junchen 2
	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
内容类型	会议论文
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.