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Static Calibration of the DLR Medical Robot MIRO, a Flexible Lightweight Robot with Integrated Torque Sensors

Klodmann, Julian and Konietschke, Rainer and Albu-Schäffer, Alin and Hirzinger, Gerhard (2011) Static Calibration of the DLR Medical Robot MIRO, a Flexible Lightweight Robot with Integrated Torque Sensors. IROS 2011, 25.-30. Sept. 2011, San Francisco, CA, USA.

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Abstract

This paper presents a method to calibrate the model of serial and flexible lightweight robots with joint sided torque sensors in the assembled state. The calibration is done in an iterative three-step process, based on static robot poses. In the first step the kinematics and stiffnesses of the flexible components are calibrated. Second the models of the integrated torque sensors are identified in a linear least square solution. In the third step the masses, the centers of gravity and the torque sensor offsets are estimated using linear regression. The calibration steps are repeated stepwise to account for their dependencies. The calibration procedure is simulated and experimentally performed with the medical lightweight robot MIRO of the German Aerospace Center. Through the iterative procedure the pose accuracy improves from about 5mm translational error and 2.5 ° rotational error to 1mm and 0.3 ° regarding the entire workspace.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Static Calibration of the DLR Medical Robot MIRO, a Flexible Lightweight Robot with Integrated Torque Sensors
Authors:
AuthorsInstitution or Email of Authors
Klodmann, Julianjulian.klodmann@dlr.de
Konietschke, RainerUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:September 2011
Status:Published
Keywords:Calibration and Identification; Medical Robots and Systems; Flexible Arms
Event Title:IROS 2011
Event Location:San Francisco, CA, USA
Event Type:international Conference
Event Dates: 25.-30. Sept. 2011
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: Julian Klodmann
Deposited On:10 Jan 2012 14:50
Last Modified:10 Jan 2012 14:50

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