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Improving contact force estimation accuracy by optimal redundancy resolution

Wahrburg, Arne; Robertsson, Anders LU ; Matthias, Björn; Dai, Fan and Ding, Hao (2016) 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems 2016-November. p.3735-3741
Abstract

Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (CCFE) at the TCP, since an increased amount of joint level information is available for estimating the six components of external wrench. In this paper, we point out that the errors in CCFE estimates arising from inevitable uncertainties in available joint level information (either measurements or estimates) depend on the manipulator configuration. Based on this, an algorithm is proposed that resolves redundancy in an optimal way with respect... (More)

Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (CCFE) at the TCP, since an increased amount of joint level information is available for estimating the six components of external wrench. In this paper, we point out that the errors in CCFE estimates arising from inevitable uncertainties in available joint level information (either measurements or estimates) depend on the manipulator configuration. Based on this, an algorithm is proposed that resolves redundancy in an optimal way with respect of the achievable CCFE quality. For a given TCP pose, the joint configuration resulting in minimized CCFE errors is calculated. The proposed method is verified by means of experimental data gathered from a 7DOF manipulator.

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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
in
IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
volume
2016-November
pages
7 pages
publisher
Institute of Electrical and Electronics Engineers Inc.
conference name
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
external identifiers
  • scopus:85006456731
ISBN
9781509037629
DOI
10.1109/IROS.2016.7759550
language
English
LU publication?
yes
id
1289c0ed-33ff-4137-a23f-f6ae854a8185
date added to LUP
2017-01-12 07:16:31
date last changed
2017-03-10 10:48:35
@inproceedings{1289c0ed-33ff-4137-a23f-f6ae854a8185,
  abstract     = {<p>Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (CCFE) at the TCP, since an increased amount of joint level information is available for estimating the six components of external wrench. In this paper, we point out that the errors in CCFE estimates arising from inevitable uncertainties in available joint level information (either measurements or estimates) depend on the manipulator configuration. Based on this, an algorithm is proposed that resolves redundancy in an optimal way with respect of the achievable CCFE quality. For a given TCP pose, the joint configuration resulting in minimized CCFE errors is calculated. The proposed method is verified by means of experimental data gathered from a 7DOF manipulator.</p>},
  author       = {Wahrburg, Arne and Robertsson, Anders and Matthias, Björn and Dai, Fan and Ding, Hao},
  booktitle    = {IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  isbn         = {9781509037629},
  language     = {eng},
  month        = {11},
  pages        = {3735--3741},
  publisher    = {Institute of Electrical and Electronics Engineers Inc.},
  title        = {Improving contact force estimation accuracy by optimal redundancy resolution},
  url          = {http://dx.doi.org/10.1109/IROS.2016.7759550},
  volume       = {2016-November},
  year         = {2016},
}