Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface

Che Hou; Yiwen Zhao; Guoli Song; Junchen Wang

doi:10.1109/CYBER.2018.8688323

Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface

Che Hou
, Yiwen Zhao
, Guoli Song
, Junchen Wang

School of Mechanical Engineering and Automation

University of Chinese Academy of Sciences
CAS - Shenyang Institute of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper KUKA's Fast Robot Interface (FRI)is applied to design and implement a torque control with gravity compensation for the direct teching task on the KUKA LBR IIWA. We seek torque control method with more accurate gravity compensation to replace the original KUKA internal controller with a large compensation error. In order to accurately compensate the gravity of robot, this paper proposes a method of parameter identification based on QR decomposition and least squares theory and completes the parameter identification process. Then, the desired torque generated by accurate gravity compensation is delivered to the torque controller via FRI. The accuracy of gravity compensation results is verified by experiments.

Original language	English
Title of host publication	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	164-168
Number of pages	5
ISBN (Electronic)	9781538670569
DOIs	https://doi.org/10.1109/CYBER.2018.8688323
State	Published - 10 Apr 2019
Event	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 - Tianjin, China Duration: 19 Jul 2018 → 23 Jul 2018

Publication series

Name	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

Conference

Conference	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Country/Territory	China
City	Tianjin
Period	19/07/18 → 23/07/18

Access to Document

10.1109/CYBER.2018.8688323

Cite this

Hou, C., Zhao, Y., Song, G., & Wang, J. (2019). Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface. In 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 (pp. 164-168). Article 8688323 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER.2018.8688323

Hou, Che ; Zhao, Yiwen ; Song, Guoli et al. / Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface. 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 164-168 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018).

@inproceedings{2aab15fe49e644408c0f149adfeaee07,

title = "Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface",

abstract = "In this paper KUKA's Fast Robot Interface (FRI)is applied to design and implement a torque control with gravity compensation for the direct teching task on the KUKA LBR IIWA. We seek torque control method with more accurate gravity compensation to replace the original KUKA internal controller with a large compensation error. In order to accurately compensate the gravity of robot, this paper proposes a method of parameter identification based on QR decomposition and least squares theory and completes the parameter identification process. Then, the desired torque generated by accurate gravity compensation is delivered to the torque controller via FRI. The accuracy of gravity compensation results is verified by experiments.",

author = "Che Hou and Yiwen Zhao and Guoli Song and Junchen Wang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 ; Conference date: 19-07-2018 Through 23-07-2018",

year = "2019",

month = apr,

day = "10",

doi = "10.1109/CYBER.2018.8688323",

language = "英语",

series = "8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "164--168",

booktitle = "8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018",

address = "美国",

}

Hou, C, Zhao, Y, Song, G & Wang, J 2019, Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface. in 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018., 8688323, 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018, Institute of Electrical and Electronics Engineers Inc., pp. 164-168, 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018, Tianjin, China, 19/07/18. https://doi.org/10.1109/CYBER.2018.8688323

Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface. / Hou, Che; Zhao, Yiwen; Song, Guoli et al.
8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 164-168 8688323 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface

AU - Hou, Che

AU - Zhao, Yiwen

AU - Song, Guoli

AU - Wang, Junchen

PY - 2019/4/10

Y1 - 2019/4/10

N2 - In this paper KUKA's Fast Robot Interface (FRI)is applied to design and implement a torque control with gravity compensation for the direct teching task on the KUKA LBR IIWA. We seek torque control method with more accurate gravity compensation to replace the original KUKA internal controller with a large compensation error. In order to accurately compensate the gravity of robot, this paper proposes a method of parameter identification based on QR decomposition and least squares theory and completes the parameter identification process. Then, the desired torque generated by accurate gravity compensation is delivered to the torque controller via FRI. The accuracy of gravity compensation results is verified by experiments.

AB - In this paper KUKA's Fast Robot Interface (FRI)is applied to design and implement a torque control with gravity compensation for the direct teching task on the KUKA LBR IIWA. We seek torque control method with more accurate gravity compensation to replace the original KUKA internal controller with a large compensation error. In order to accurately compensate the gravity of robot, this paper proposes a method of parameter identification based on QR decomposition and least squares theory and completes the parameter identification process. Then, the desired torque generated by accurate gravity compensation is delivered to the torque controller via FRI. The accuracy of gravity compensation results is verified by experiments.

UR - https://www.scopus.com/pages/publications/85064977923

U2 - 10.1109/CYBER.2018.8688323

DO - 10.1109/CYBER.2018.8688323

M3 - 会议稿件

AN - SCOPUS:85064977923

T3 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

SP - 164

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BT - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

Y2 - 19 July 2018 through 23 July 2018

ER -

Hou C, Zhao Y, Song G, Wang J. Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface. In 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 164-168. 8688323. (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018). doi: 10.1109/CYBER.2018.8688323

Gravity Compensation of KUKA LBR IIWA Through Fast Robot Interface

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