Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Compensation Method of an Accelerometer for an Acceleration-based Disturbance Observer Control of a Robot Manipulator

로봇 매니퓰레이터의 가속도 기반 외란관측제어를 위한 저가용 가속도 센서 보정 방법

  • Bae, Yeong-Geol (Mechatronics Engineering Department, Chungnam National University) ;
  • Jung, Seul (Mechatronics Engineering Department, Chungnam National University)
  • 배영걸 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2013.08.28
  • Accepted : 2014.04.02
  • Published : 2014.06.01
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Abstract

This paper presents a compensation method for an accelerometer to measure acceleration data accurately when a robot manipulator moves slowly. Although the accelerometer works fine under the fast movement of a robot manipulator, low cost accelerometers provide relatively inaccurate acceleration data under slow movements. In order to correct the error of the sensor data in the slow motion, correction factors are obtained experimentally. Then those corrected data are used for the disturbance observer. Experimental studies of the position control of a robot manipulator are conducted by applying the DOB (Disturbance Observer) control using corrected acceleration data.

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References

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