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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
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Abstract

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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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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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.

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