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Robotic Force Estimation Using Motor Torques and Modeling of Low Velocity Friction Disturbances

Linderoth, Magnus LU ; Stolt, Andreas LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2013) IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 p.3550-3556
Abstract
For many assembly operations force control is needed, but force sensors may be expensive and add mass to the system. An alternative is to use the motor torques, though friction causes large disturbances. The Coulomb friction can be quite well known when a joint is moving, but has much larger uncertainties for velocities close to zero.



This paper presents a method for force estimation that accounts for the velocity dependent uncertainty of the Coulomb friction and combines data from several joints to produce accurate estimates. The estimate is calculated by solving a convex optimization problem in real time. The proposed method is experimentally evaluated on a force-controlled dual-arm assembly operation and validated... (More)
For many assembly operations force control is needed, but force sensors may be expensive and add mass to the system. An alternative is to use the motor torques, though friction causes large disturbances. The Coulomb friction can be quite well known when a joint is moving, but has much larger uncertainties for velocities close to zero.



This paper presents a method for force estimation that accounts for the velocity dependent uncertainty of the Coulomb friction and combines data from several joints to produce accurate estimates. The estimate is calculated by solving a convex optimization problem in real time. The proposed method is experimentally evaluated on a force-controlled dual-arm assembly operation and validated with data from a force sensor. The estimates are shown to improve with the number of joints used, and the method can even exploit data from an arm that is controlled not to move. (Less)
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Force estimation, robotics, friction modeling.
host publication
Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-7, 2013. Tokyo, Japan
editor
Amato, Nancy
pages
7 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
conference location
Tokyo, Japan
conference dates
2013-11-03 - 2013-11-08
external identifiers
  • wos:000331367403091
  • scopus:84893742109
ISSN
2153-0866
2153-0858
project
RobotLab LTH
ROSETTA
language
English
LU publication?
yes
id
2fcb7772-6cbc-4bbe-b1eb-3754e89f76db (old id 4191947)
date added to LUP
2016-04-01 11:14:43
date last changed
2024-05-20 09:43:50
@inproceedings{2fcb7772-6cbc-4bbe-b1eb-3754e89f76db,
  abstract     = {{For many assembly operations force control is needed, but force sensors may be expensive and add mass to the system. An alternative is to use the motor torques, though friction causes large disturbances. The Coulomb friction can be quite well known when a joint is moving, but has much larger uncertainties for velocities close to zero.<br/><br>
<br/><br>
This paper presents a method for force estimation that accounts for the velocity dependent uncertainty of the Coulomb friction and combines data from several joints to produce accurate estimates. The estimate is calculated by solving a convex optimization problem in real time. The proposed method is experimentally evaluated on a force-controlled dual-arm assembly operation and validated with data from a force sensor. The estimates are shown to improve with the number of joints used, and the method can even exploit data from an arm that is controlled not to move.}},
  author       = {{Linderoth, Magnus and Stolt, Andreas and Robertsson, Anders and Johansson, Rolf}},
  booktitle    = {{Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-7, 2013. Tokyo, Japan}},
  editor       = {{Amato, Nancy}},
  issn         = {{2153-0866}},
  keywords     = {{Force estimation; robotics; friction modeling.}},
  language     = {{eng}},
  pages        = {{3550--3556}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Robotic Force Estimation Using Motor Torques and Modeling of Low Velocity Friction Disturbances}},
  url          = {{https://lup.lub.lu.se/search/files/2503573/4191949.pdf}},
  year         = {{2013}},
}