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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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|
|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|
|HGF - Program:||Space|
|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)|
|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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