TY - GEN
T1 - Design of 6-DOF accelerometer and application in impedance control of manipulators with flexible joints
AU - Zou, Tian
AU - Ni, Fenglei
AU - Guo, Chuangqiang
AU - Li, Kui
AU - Liu, Hong
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - This paper is to introduce a 6-DOF acceleration sensor by utilizing multiple linear accelerometers, which possesses the advantages of small volume, high reliability and easy-to-integrate, etc. A cylindrical spatial geometrical configuration is proposed as the distribution basis of linear accelerometers, which avoids the accumulative errors arising from the integral operation. Moreover, error model of the sensor is deduced and calibrated for further error compensation. Static experiments illustrate that errors of the sensor are compensated effectively. In order to compensate the inertial force and attenuate the bounce of end-effector at the contact transition instant of impedance control, a Kalman filter is adopted to compensated the inertial force of end-effector, which fuses tip position, orientation, acceleration and force/torque. Experimental results indicate the effectiveness of the proposed acceleration sensor, and the inertial force of the end-effector can be compensated effectively in impedance control.
AB - This paper is to introduce a 6-DOF acceleration sensor by utilizing multiple linear accelerometers, which possesses the advantages of small volume, high reliability and easy-to-integrate, etc. A cylindrical spatial geometrical configuration is proposed as the distribution basis of linear accelerometers, which avoids the accumulative errors arising from the integral operation. Moreover, error model of the sensor is deduced and calibrated for further error compensation. Static experiments illustrate that errors of the sensor are compensated effectively. In order to compensate the inertial force and attenuate the bounce of end-effector at the contact transition instant of impedance control, a Kalman filter is adopted to compensated the inertial force of end-effector, which fuses tip position, orientation, acceleration and force/torque. Experimental results indicate the effectiveness of the proposed acceleration sensor, and the inertial force of the end-effector can be compensated effectively in impedance control.
UR - https://www.scopus.com/pages/publications/85016836664
U2 - 10.1109/ROBIO.2016.7866652
DO - 10.1109/ROBIO.2016.7866652
M3 - 会议稿件
AN - SCOPUS:85016836664
T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
SP - 2175
EP - 2180
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Y2 - 3 December 2016 through 7 December 2016
ER -