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Sensor Fusion of Force and Acceleration for Robot Force Control

Gámez García, Javier; Robertsson, Anders LU ; Gómez Ortega, Juan and Johansson, Rolf LU (2004) In Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004). 3. p.3009-3014
Abstract
In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncertain models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. A model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control... (More)
In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncertain models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. A model of the robot-grinding tool using the new sensors was obtained by system identification. 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. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
robot-grinding tool, sensor fusion, ABB industrial robot, force measurement, accelerometers, end-effectors, acceleration measurement, force sensors, impedance control scheme, model-based observer approach, open control system, robot force control, robotic manipulators
in
Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).
volume
3
pages
3009 - 3014
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • Scopus:14044267089
ISBN
0-7803-8463-6
DOI
10.1109/IROS.2004.1389867
language
English
LU publication?
yes
id
3b507759-aeb9-49c2-b616-99b7c95b3020 (old id 536082)
date added to LUP
2007-09-18 08:32:06
date last changed
2016-10-13 04:48:24
@misc{3b507759-aeb9-49c2-b616-99b7c95b3020,
  abstract     = {In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncertain models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. A model of the robot-grinding tool using the new sensors was obtained by system identification. 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.},
  author       = {Gámez García, Javier and Robertsson, Anders and Gómez Ortega, Juan and Johansson, Rolf},
  isbn         = {0-7803-8463-6},
  keyword      = {robot-grinding tool,sensor fusion,ABB industrial robot,force measurement,accelerometers,end-effectors,acceleration measurement,force sensors,impedance control scheme,model-based observer approach,open control system,robot force control,robotic manipulators},
  language     = {eng},
  pages        = {3009--3014},
  publisher    = {ARRAY(0x8e1c4f0)},
  series       = {Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).},
  title        = {Sensor Fusion of Force and Acceleration for Robot Force Control},
  url          = {http://dx.doi.org/10.1109/IROS.2004.1389867},
  volume       = {3},
  year         = {2004},
}