Large-Amplitude Base-Motion Compensation of a Serial Robot Using an Inertial Measurement Unit

Proceedings of the 17th International Conference on Methods and Models in Automation and Robotics (MMAR 2012) 2012
Vladimirs Ļeontjevs, Francisco Geu Flores, Jesus Lopez, Leonīds Ribickis, Andres Kecskeméthy

This paper describes the kinematical analysis and control of a large spatial robot for base motion compensation using an inertial measurement unit. The proposed method is intended for a 6 degrees of freedom serial manipulator, which compensates a large-amplitude spatial motion at its base such that the end effector maintains to a high degree a prescribed target location. Hereby, the robot circumvents hand wrist singularities by a new virtual redundant joint approach. The overall system is tested for a KUKA KR500 system and computergenerated as well as real wave signals with large amplitudes.

Keywords
Acceleration, Joints, Robot kinematics, Robot sensing systems, Vectors, Wrist
DOI
10.1109/MMAR.2012.6347894
Hyperlink
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6347894

Ļeontjevs, V., Flores, F., Lopez, J., Ribickis, L., Kecskemethy, A. Large-Amplitude Base-Motion Compensation of a Serial Robot Using an Inertial Measurement Unit. In: Proceedings of the 17th International Conference on Methods and Models in Automation and Robotics (MMAR 2012), Poland, Miedzyzdrojie, 27-30 August, 2012. Piscataway: IEEE, 2012, pp.166-171. ISBN 978-1-4673-2121-1. Available from: doi:10.1109/MMAR.2012.6347894

Publication language
English (en)