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Article

Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling

Department of Automated Manufacturing Engineering, École de Technologie Supérieure, Montréal, QC H3C 1K3, Canada
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Robotics 2019, 8(2), 33; https://doi.org/10.3390/robotics8020033
Received: 24 March 2019 / Revised: 17 April 2019 / Accepted: 19 April 2019 / Published: 23 April 2019
This paper presents a closed-loop calibration approach using impedance control. The process is managed by a data communication architecture based on open-source tools and designed for adaptability. The calibration procedure uses precision spheres and a kinematic coupling standard machine tool components, which are suitable for harsh industrial environments. As such, the required equipment is low cost (approximately $2000 USD), robust, and is quick to set up, especially when compared to traditional calibration devices. As demonstrated through an experimental study and validated with a laser tracker, the absolute accuracy of the KUKA LBR iiwa robot was improved to a maximum error of 0.990 mm, representing a 58.4% improvement when compared to the nominal model. Further testing showed that a traditional calibration using a laser tracker only improved the maximum error by 58 µm over the impedance control approach.
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Keywords: calibration; data processing; force control; impedance control; industrial communication; manufacturing, process, and service automation; optimization; physical human–robot interaction; redundant robots; robot control calibration; data processing; force control; impedance control; industrial communication; manufacturing, process, and service automation; optimization; physical human–robot interaction; redundant robots; robot control
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MDPI and ACS Style

Nadeau, N.A.; Bonev, I.A.; Joubair, A. Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling. Robotics 2019, 8, 33. https://doi.org/10.3390/robotics8020033

AMA Style

Nadeau NA, Bonev IA, Joubair A. Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling. Robotics. 2019; 8(2):33. https://doi.org/10.3390/robotics8020033

Chicago/Turabian Style

Nadeau, Nicholas A., Ilian A. Bonev, and Ahmed Joubair. 2019. "Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling" Robotics 8, no. 2: 33. https://doi.org/10.3390/robotics8020033

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