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Robotic Force Estimation using Dithering to Decrease the Low Velocity Friction Uncertainties

Stolt, Andreas LU ; Robertsson, Anders LU and Johansson, Rolf LU (2015) IEEE International Conference on Robotics and Automation, 2015 p.3896-3902
Abstract
For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not moving, where the Coulomb friction constitutes a fundamental difficulty. A dithering feedforward torque is used to decrease the Coulomb friction uncertainty, and hence improve the force estimation accuracy when the robot is not moving. The method is validated experimentally through an implementation on an industrial robot. A lead-through scenario is... (More)
For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not moving, where the Coulomb friction constitutes a fundamental difficulty. A dithering feedforward torque is used to decrease the Coulomb friction uncertainty, and hence improve the force estimation accuracy when the robot is not moving. The method is validated experimentally through an implementation on an industrial robot. A lead-through scenario is also presented. (Less)
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
pages
7 pages
conference name
IEEE International Conference on Robotics and Automation, 2015
external identifiers
  • Scopus:84938221801
project
ROSETTA
language
English
LU publication?
yes
id
85d13953-0c4f-4956-ae78-0dd2ed989ca2 (old id 5434004)
date added to LUP
2015-06-01 09:23:49
date last changed
2016-10-13 05:02:09
@misc{85d13953-0c4f-4956-ae78-0dd2ed989ca2,
  abstract     = {For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not moving, where the Coulomb friction constitutes a fundamental difficulty. A dithering feedforward torque is used to decrease the Coulomb friction uncertainty, and hence improve the force estimation accuracy when the robot is not moving. The method is validated experimentally through an implementation on an industrial robot. A lead-through scenario is also presented.},
  author       = {Stolt, Andreas and Robertsson, Anders and Johansson, Rolf},
  language     = {eng},
  pages        = {3896--3902},
  title        = {Robotic Force Estimation using Dithering to Decrease the Low Velocity Friction Uncertainties},
  year         = {2015},
}