Advanced

Force and Acceleration Sensor Fusion for Compliant Robot Motion Control

Gámez García, Javier; Robertsson, Anders LU ; Gómez Ortega, Juan and Johansson, Rolf LU (2005) IEEE International Conference on Robotics and Automation, 2005 In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on p.2709-2714
Abstract
In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose 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 an accelerometer whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models... (More)
In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose 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 an accelerometer whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes 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 fedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. (Less)
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
keywords
Force Control, Robot Control, Sensor Fusion, Observers
in
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
pages
2709 - 2714
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Robotics and Automation, 2005
external identifiers
  • wos:000235460102053
  • scopus:33846166760
ISBN
0-7803-8914-X
language
English
LU publication?
yes
id
a3218624-81d4-4448-b553-32b40dad8dc9 (old id 535722)
alternative location
http://ieeexplore.ieee.org/iel5/10495/33250/01570523.pdf?isnumber=33250&arnumber=1570523
date added to LUP
2007-09-18 08:29:51
date last changed
2017-02-05 04:42:25
@inproceedings{a3218624-81d4-4448-b553-32b40dad8dc9,
  abstract     = {In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose 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 an accelerometer whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes 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 fedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.},
  author       = {Gámez García, Javier and Robertsson, Anders and Gómez Ortega, Juan and Johansson, Rolf},
  booktitle    = {Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on},
  isbn         = {0-7803-8914-X},
  keyword      = {Force Control,Robot Control,Sensor Fusion,Observers},
  language     = {eng},
  pages        = {2709--2714},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Force and Acceleration Sensor Fusion for Compliant Robot Motion Control},
  year         = {2005},
}