机器人抓取臂的在线重量估计

2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI:10.1109/AQTR.2016.7501307

D. Copot, C. Ionescu, I. Nascu, R. Keyser

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引用次数: 4

摘要

提出了一种新的机器人抓取臂在线、快速、准确的重量估计方法。实验室设置的灵感来自于移动起重机中重量估计的几个实际应用，例如造船厂的集装箱装载，钢铁工业的废铁等。重量需要在规定的时间间隔和精度公差范围内进行估计。结果表明，该方法适用于此类应用，与目前的工作状态相比，提高了30%。

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Online weight estimation in a robotic gripper arm

This paper presents a novel methodology for online, fast and accurate weight estimation technique in a robotic gripper arm. The laboratory setup is inspired from several real life applications of weight estimation in moving cranes, e.g. loading containers in a shipyard, iron scrapping in steel industry, etc. The weight needs to be estimated within a specified time interval and within a tolerance interval for accuracy. The results indicate that the proposed method is suitable for this kind of application and an improvement of 30% has been achieved compared to the current state of work.

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来源期刊

2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)

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