Publication
Title
Calibration of UR10 robot controller through simple auto-tuning approach
Author
Abstract
This paper presents a calibration approach of a manipulator robot controller using an auto-tuning technique. Since the industry requires machines to run with increasing speed and precision, an optimal controller is too demanding. Even though the robots make use of an internal controller, usually, this controller does not fulfill the user specification with respect to their applications. Therefore, in order to overcome the user requirements, an auto-tuning method based on a single sine test is employed to obtain the optimal parameters of the proportional-integral-derivative PID controller. This approach has been tested, validated and implemented on a UR10 robot. The experimental results revealed that the performances of the robot increased when the designed controller, using the auto-tuning technique, was employed.
Language
English
Source (journal)
Robotics
Publication
2018
ISSN
2218-6581
Volume/pages
7 :3 (2018) , 20 p.
Article Reference
35
ISI
000445185400004
Medium
E-only publicatie
Full text (Publisher's DOI)
Full text (open access)
UAntwerpen
Faculty/Department
Research group
Publication type
Subject
Affiliation
Publications with a UAntwerp address
External links
Web of Science
Record
Identification
Creation 08.10.2018
Last edited 19.08.2021
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