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Generalized Contact Force Estimator for a Robot Manipulator

Gámez García, Javier; Robertsson, Anders LU ; Gómez Ortega, Juan and Johansson, Rolf LU (2006) IEEE Int Conf on Robotics and Automation (ICRA'2006)
Abstract
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... (More)
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. (Less)
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organization
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Contribution to conference
publication status
published
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conference name
IEEE Int Conf on Robotics and Automation (ICRA'2006)
external identifiers
  • Scopus:33845623430
language
English
LU publication?
yes
id
3e2083f7-e5e8-479d-850e-f67877d9e9c6 (old id 934833)
date added to LUP
2008-01-17 09:36:18
date last changed
2016-10-13 04:59:34
@misc{3e2083f7-e5e8-479d-850e-f67877d9e9c6,
  abstract     = {In this work, we present implementation and experiment<br/><br>
of the theory of dynamic force sensing for robotic<br/><br>
manipulators. Since the inertial forces are undesirable forces to be<br/><br>
measured in the robot manipulation, it is processed, using sensor<br/><br>
fusion techniques, the force sensor signal in order to extract<br/><br>
the contact force exerted by the robot. We propose a complete<br/><br>
formulation and implementation of a new control strategy based<br/><br>
on multisensor fusion with three different sensors --- that is,<br/><br>
encoders mounted at each joint of the robot with six degrees of<br/><br>
freedom, a wrist force sensor and accelerometers --- whose goal is<br/><br>
to obtain a suitable contact force estimator. These new observers<br/><br>
contribute to overcome many of the difficulties of uncertain world<br/><br>
models and unknown environments, which limit the domain of<br/><br>
application of currents robots used without external sensory<br/><br>
feedback; in addition, the final observer can be applied to<br/><br>
any kind of real robot system. An impedance control scheme<br/><br>
was proposed to verify the improvement. The experiments were<br/><br>
carried out on an industrial Stäubli RX60 manipulator with open<br/><br>
control system architectures.},
  author       = {Gámez García, Javier and Robertsson, Anders and Gómez Ortega, Juan and Johansson, Rolf},
  language     = {eng},
  title        = {Generalized Contact Force Estimator for a Robot Manipulator},
  year         = {2006},
}