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Force and Acceleration Sensor Fusion for Compliant Robot Motion Control

Publiceringsår: 2005
Språk: Engelska
Sidor: 2709-2714
Publikation/Tidskrift/Serie: Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Dokumenttyp: Konferensbidrag
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.


In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose 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 an accelerometer whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes 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 fedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.


  • Control Engineering
  • Force Control
  • Robot Control
  • Sensor Fusion
  • Observers


IEEE International Conference on Robotics and Automation, 2005
  • ISBN: 0-7803-8914-X

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