TY - GEN
T1 - Static calibration of the DLR medical robot MIRO, a flexible lightweight robot with integrated torque sensors
AU - Klodmann, Julian
AU - Konietschke, Rainer
AU - Albu-Schäffer, Alin
AU - Hirzinger, Gerhard
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455205992&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048860
DO - 10.1109/IROS.2011.6048860
M3 - Conference contribution
AN - SCOPUS:84455205992
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3708
EP - 3715
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -