Sammendrag
Laerdal Medical is a producer of Cardiopulmonary Resuscitation (CPR)
training manikins, all of which undergo rigorous endurance and accuracy
testing. This work proposes an acceleration estimator based compensation
scheme for a industrial robot manipulator product testing system with the
intention of increasing load data accuracy for the purpose of product review
and calibration. As part of the compensation scheme four different acceleration estimators are implemented and compared. Results indicate that the
compensation scheme increases the load data accuracy by 1.5 - 6 % of the
reference value depending on compression depth and spring rate. However
the accuracy goal of 0.4 [kg] is not reached. The work has also uncovered
the presence of position error in the robot. Thus, further improvement to
the compensation scheme and positional error compensation is required.