Generalized Contact Force Estimator for a Robot Manipulator
Författare
Summary, in English
In this work, we present implementation and experiment
of the theory of dynamic force sensing for robotic
manipulators. Since the inertial forces are undesirable forces to be
measured in the robot manipulation, it is processed, using sensor
fusion techniques, the force sensor signal in order to extract
the contact force exerted by the robot. We propose a complete
formulation and implementation of a new control strategy based
on multisensor fusion with three different sensors --- that is,
encoders mounted at each joint of the robot with six degrees of
freedom, a wrist force sensor and accelerometers --- whose goal is
to obtain a suitable contact force estimator. These new observers
contribute to overcome many of the difficulties of uncertain world
models and unknown environments, which limit the domain of
application of currents robots used without external sensory
feedback; in addition, the final observer can be applied to
any kind of real robot system. An impedance control scheme
was proposed to verify the improvement. The experiments were
carried out on an industrial Stäubli RX60 manipulator with open
control system architectures.
of the theory of dynamic force sensing for robotic
manipulators. Since the inertial forces are undesirable forces to be
measured in the robot manipulation, it is processed, using sensor
fusion techniques, the force sensor signal in order to extract
the contact force exerted by the robot. We propose a complete
formulation and implementation of a new control strategy based
on multisensor fusion with three different sensors --- that is,
encoders mounted at each joint of the robot with six degrees of
freedom, a wrist force sensor and accelerometers --- whose goal is
to obtain a suitable contact force estimator. These new observers
contribute to overcome many of the difficulties of uncertain world
models and unknown environments, which limit the domain of
application of currents robots used without external sensory
feedback; in addition, the final observer can be applied to
any kind of real robot system. An impedance control scheme
was proposed to verify the improvement. The experiments were
carried out on an industrial Stäubli RX60 manipulator with open
control system architectures.
Avdelning/ar
Publiceringsår
2006
Språk
Engelska
Publikation/Tidskrift/Serie
Proc. IEEE Int. Conf. Robotics and Automation (ICRA 2006)
Dokumenttyp
Konferensbidrag
Ämne
- Control Engineering
Conference name
IEEE Int Conf on Robotics and Automation (ICRA'2006)
Conference date
0001-01-02
Conference place
Orlando, Florida, United States
Status
Published
Projekt
- Robotics Lab LTH