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Gravity Identification and Online Compensation of Robot End-Effector Based on Laser Tracker |
XUE Lei1, YANG Yingke2, LI Dongsheng2, 3, HUANG Liang1, ZHAI Yunong2, 3 |
1. COMAC Shanghai Aircraft Manufacturing Co., Ltd., Shanghai 201324, China;
2. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China;
3. Ningbo Institute of Technology, Beihang University, Ningbo 315800, China) |
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Abstract To measure the real assembly force of industrial robots precisely in aircraft assembly, a method of gravity identification and online compensation for the robot end-effector based on the laser tracker is proposed. With the help of external measuring equipment such as a laser tracker, the global kinematics model of the robot system is set up to realize the accurate acquisition of the end-effector pose of the robot. Then, Kalman filtering is utilized to process the force/torque signal to obtain more exact and stable external information, and the relationship between the gravity component and the pose of the end-effector is established, considering the influence of the zero-point bias of the sensor and the error of the robot installation. Finally, an online gravity compensation experiment of the robot end-effector is conducted and demonstrates the effectiveness of the proposed method.
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