A PROBLEM IN FORCE/TORQUE-BASED ROBOT CONTROL IS THE CONTRIBUTING FORCES AND TORQUES FROM THE END EFFECTOR MASS. A METHOD TO OVERCOME THIS PROBLEM IS DESCRIBED. THE METHOD INCORPORATES A MODEL OF THE END EFFECTOR MASS PROPERTIES, CONTINUOUS UPDATE OF END EFFECTOR ORIENTATION, AND THE GRAVITATION VECTOR. THE MASS PROPERTY MODEL IS AUTOMATICALLY BUILT BY PERFORMING A FEW REORIENTATIONS OF THE END EFFECTOR, DETECTING SENSOR DATA. THE COMPENSATION IS DONE FOR EACH SET OF SENSOR DATA, BY SUBTRACTING THE CALCULATED MASS CONTRIBUTION. THE METHOD HAS BEEN IMPLEMENTED AND TESTED STATICALLY WITH AN ERROR OF APPROXIMATELY +/- 2% OF THE END EFFECTOR MASS.
| Number of Pages : | 12 |
| Published : | 06/01/1991 |
