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Generalized Contact Force Estimator for a Robot Manipulator

Publiceringsår: 2006
Språk: Engelska
Dokumenttyp: Konferensbidrag


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.


  • Control Engineering


IEEE Int Conf on Robotics and Automation (ICRA'2006)

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