Calibration of the pose parameters between coupled 6-axis F/T sensors in robotics applications

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• 作者：Jari M. Ahola ^{jari.m.ahola@vtt.fi}Author Vitae ; Tuomas Sepp&auml ; l&auml ; Author Vitae ; Jukka KoskinenAuthor Vitae ; Tapio Heikkil&auml ; ; ^{tapio.heikkila@vtt.fi}Author Vitae
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：89
• 期：Complete
• 页码：1-8
• 全文大小：2482 K
• 卷排序：89

文摘

A new method for easily and quickly calibrating the location and orientation of a manual robot guidance unit, equipped with a force/torque sensor and enabling the free location of the manual guidance unit into robot last link or load. Wireless implementation, enabling physical free attachment of the manual guidance unit. The manual guidance unit has been fully implemented and tested in practice in robot assisted load handling and robot path teaching.