Title :
Large-amplitude base-motion compensation of a serial robot using an inertial measurement unit
Author :
Leontjevs, Vladimirs ; Flores, Francisco Geu ; López, Jesús ; Ribickis, Leonids ; Kecskeméthy, Andrés
Author_Institution :
Dept. of Mech. & Robot., Univ. Duisburg-Essen, Duisburg, Germany
Abstract :
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 :
end effectors; inertial systems; measurement systems; motion compensation; redundant manipulators; KUKA KR500 system; base motion compensation; degree of freedom; end effector; inertial measurement unit; kinematical analysis; robot circumvent hand wrist singularity; serial manipulator; serial robot control; virtual redundant joint approach; Acceleration; Joints; Robot kinematics; Robot sensing systems; Vectors; Wrist;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Conference_Location :
Miedzyzdrojie
Print_ISBN :
978-1-4673-2121-1
DOI :
10.1109/MMAR.2012.6347894
