Abstract
Torque-control approaches implemented in collaborative robots include the compensation of static and dynamic effects, such as the gravity compensation approach. Therefore, it is required to know the inertial parameters of each robot’s link. Robot controllers generally allow to get access to these inertial parameters and even directly provide the compensation torques. However, these torques must be recalculated when attaching a new tool to the end-effector, by providing the controller with the inertial parameters of the added payload. In this paper, we briefly mention four methods for the identification of the inertial parameters and present one in depth to identify the inertial parameters of a payload held by the end effector of a collaborative robot, i.e. Franka Emika robot, in order to improve its dynamic compensation in the context of medical applications.
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Acknowledgements
This research was funded by the region “Nouvelle-Aquitaine” (program HABISAN 2015–2020) with the financial participation of the European Union (FEDER/ERDF, European Regional Development Fund). This work was also sponsored by the French government research program Investissements d’avenir through the Robotex Equipment of Excellence (ANR-10-EQPX-44).
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Salah, S., Sandoval, J., Ghiss, M., Laribi, M.A., Zeghloul, S. (2020). Online Payload Identification of a Franka Emika Robot for Medical Applications. In: Zeghloul, S., Laribi, M., Sandoval Arevalo, J. (eds) Advances in Service and Industrial Robotics. RAAD 2020. Mechanisms and Machine Science, vol 84. Springer, Cham. https://doi.org/10.1007/978-3-030-48989-2_15
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DOI: https://doi.org/10.1007/978-3-030-48989-2_15
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