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Robotic Force Estimation using Dithering to Decrease the Low Velocity Friction Uncertainties

Stolt, Andreas LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2015) IEEE International Conference on Robotics and Automation, 2015 In IEEE Xplore Digital Library p.3896-3902
Abstract
For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not moving, where the Coulomb friction constitutes a fundamental difficulty. A dithering feedforward torque is used to decrease the Coulomb friction uncertainty, and hence improve the force estimation accuracy when the robot is not moving. The method is validated experimentally through an implementation on an industrial robot. A lead-through scenario is... (More)
For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not moving, where the Coulomb friction constitutes a fundamental difficulty. A dithering feedforward torque is used to decrease the Coulomb friction uncertainty, and hence improve the force estimation accuracy when the robot is not moving. The method is validated experimentally through an implementation on an industrial robot. A lead-through scenario is also presented. (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
host publication
2015 IEEE International Conference on Robotics and Automation (ICRA)
series title
IEEE Xplore Digital Library
pages
7 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Robotics and Automation, 2015
conference location
Seattle, WA, United States
conference dates
2015-05-26 - 2015-05-30
external identifiers
  • scopus:84938221801
ISSN
1050-4729
ISBN
978-1-4799-6923-4
978-1-4799-6924-1
DOI
10.1109/ICRA.2015.7139742
project
ROSETTA
RobotLab LTH
language
English
LU publication?
yes
additional info
key=stoltICRA15a project=extrosetta month=may
id
85d13953-0c4f-4956-ae78-0dd2ed989ca2 (old id 5434004)
date added to LUP
2016-04-04 14:27:06
date last changed
2024-10-14 00:39:10
@inproceedings{85d13953-0c4f-4956-ae78-0dd2ed989ca2,
  abstract     = {{For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not moving, where the Coulomb friction constitutes a fundamental difficulty. A dithering feedforward torque is used to decrease the Coulomb friction uncertainty, and hence improve the force estimation accuracy when the robot is not moving. The method is validated experimentally through an implementation on an industrial robot. A lead-through scenario is also presented.}},
  author       = {{Stolt, Andreas and Robertsson, Anders and Johansson, Rolf}},
  booktitle    = {{2015 IEEE International Conference on Robotics and Automation (ICRA)}},
  isbn         = {{978-1-4799-6923-4}},
  issn         = {{1050-4729}},
  language     = {{eng}},
  pages        = {{3896--3902}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{IEEE Xplore Digital Library}},
  title        = {{Robotic Force Estimation using Dithering to Decrease the Low Velocity Friction Uncertainties}},
  url          = {{https://lup.lub.lu.se/search/files/21680538/5434005.pdf}},
  doi          = {{10.1109/ICRA.2015.7139742}},
  year         = {{2015}},
}