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Sensor Fusion for Compliant Robot Motion Control

Gámez García, Javier; Robertsson, Anders LU ; Gómez Ortega, Juan and Johansson, Rolf LU (2008) In IEEE Transactions on Robotics 24(2). p.430-441
Abstract
Force feedback control is necessary for accurate force control in robotic manipulators and, thus far, wrist force/torque (F/T) sensors have been used. An important problem arises when only these types of sensors are used. In a dynamic situation where the manipulator moves in either free or constrained space, the interaction forces and moments at the contact point and also the non-contact ones are measured by the force/torque sensor. In this work, an estimator based on a sensor fusion strategy integrating the measurements of three different sensors (a wrist F/T sensors, an inertial sensor and joint sensors) was developed to determine the contact force and torque exerted by the manipulator to its environment. The resulting observer helped to... (More)
Force feedback control is necessary for accurate force control in robotic manipulators and, thus far, wrist force/torque (F/T) sensors have been used. An important problem arises when only these types of sensors are used. In a dynamic situation where the manipulator moves in either free or constrained space, the interaction forces and moments at the contact point and also the non-contact ones are measured by the force/torque sensor. In this work, an estimator based on a sensor fusion strategy integrating the measurements of three different sensors (a wrist F/T sensors, an inertial sensor and joint sensors) was developed to determine the contact force and torque exerted by the manipulator to its environment. The resulting observer helped to overcome some difficulties of uncertain world models and unknown environments since it reduces the high-frequency and low-frequency spectral contents—i.e., the low-frequency component due to inertia of a heavy tool mass and the high-frequency component due to impacts. The new improvement was experimentally validated in a force/position impedance control loop applied to a Stäubli RX60 industrial robotic platform. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Robot Manipulator Control, Sensor Fusion, Force/torque Sensing, Force feedback, Estimation
in
IEEE Transactions on Robotics
volume
24
issue
2
pages
430 - 441
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • wos:000254705600016
  • scopus:42549111232
ISSN
1941-0468
DOI
10.1109/TRO.2008.918057
language
English
LU publication?
yes
id
e441dcc6-873d-4f20-b4a3-1e104ff9c233 (old id 1060171)
date added to LUP
2008-04-22 09:46:55
date last changed
2017-10-29 03:32:38
@article{e441dcc6-873d-4f20-b4a3-1e104ff9c233,
  abstract     = {Force feedback control is necessary for accurate force control in robotic manipulators and, thus far, wrist force/torque (F/T) sensors have been used. An important problem arises when only these types of sensors are used. In a dynamic situation where the manipulator moves in either free or constrained space, the interaction forces and moments at the contact point and also the non-contact ones are measured by the force/torque sensor. In this work, an estimator based on a sensor fusion strategy integrating the measurements of three different sensors (a wrist F/T sensors, an inertial sensor and joint sensors) was developed to determine the contact force and torque exerted by the manipulator to its environment. The resulting observer helped to overcome some difficulties of uncertain world models and unknown environments since it reduces the high-frequency and low-frequency spectral contents—i.e., the low-frequency component due to inertia of a heavy tool mass and the high-frequency component due to impacts. The new improvement was experimentally validated in a force/position impedance control loop applied to a Stäubli RX60 industrial robotic platform.},
  author       = {Gámez García, Javier and Robertsson, Anders and Gómez Ortega, Juan and Johansson, Rolf},
  issn         = {1941-0468},
  keyword      = {Robot Manipulator Control,Sensor Fusion,Force/torque Sensing,Force feedback,Estimation},
  language     = {eng},
  number       = {2},
  pages        = {430--441},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  series       = {IEEE Transactions on Robotics},
  title        = {Sensor Fusion for Compliant Robot Motion Control},
  url          = {http://dx.doi.org/10.1109/TRO.2008.918057},
  volume       = {24},
  year         = {2008},
}