Title :
Identifying mass parameters for gravity compensation and automatic torque sensor calibration
Author :
Ma, Donghai ; Hollerbach, J.M.
Author_Institution :
MPB Technol. Inc., Pointe Claire, Que., Canada
Abstract :
This paper presents a new and simple procedure to identify link mass parameters used for gravity compensation and on-line automatic torque sensor calibration for a robot manipulator. The approach employs single-joint rotation and a recursive procedure that proceeds distally to proximally to identify composite mass moments. Experimental results on presented for the Sarcos Dextrous Arm
Keywords :
calibration; compensation; gravity; manipulator kinematics; recursive estimation; torque control; Sarcos Dextrous Arm; automatic torque sensor calibration; gravity compensation; mass parameters identification; recursive procedure; single-joint rotation; Acceleration; Anthropomorphism; Arm; Calibration; Gravity; Manipulators; Motion control; Robot sensing systems; Robotics and automation; Torque;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503850
