Generalized Contact Force Estimator for a Robot Manipulator
Gámez García, Javier ; Robertsson, Anders LU ; Gómez Ortega, Juan and Johansson, Rolf LU
(2006)
IEEE Int Conf on Robotics and Automation (ICRA'2006)
- Abstract
- In this work, we present implementation and experiment
of the theory of dynamic force sensing for robotic
manipulators. Since the inertial forces are undesirable forces to be
measured in the robot manipulation, it is processed, using sensor
fusion techniques, the force sensor signal in order to extract
the contact force exerted by the robot. We propose a complete
formulation and implementation of 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 accelerometers --- whose goal is
to obtain a suitable contact force... (More) - In this work, we present implementation and experiment
of the theory of dynamic force sensing for robotic
manipulators. Since the inertial forces are undesirable forces to be
measured in the robot manipulation, it is processed, using sensor
fusion techniques, the force sensor signal in order to extract
the contact force exerted by the robot. We propose a complete
formulation and implementation of 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 accelerometers --- whose goal is
to obtain a suitable contact force estimator. These new observers
contribute 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
feedback; in addition, the final observer can be applied to
any kind of real robot system. An impedance control scheme
was proposed to verify the improvement. The experiments were
carried out on an industrial Stäubli RX60 manipulator with open
control system architectures. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/934833
- author
- Gámez García, Javier
; Robertsson, Anders
LU
; Gómez Ortega, Juan
and Johansson, Rolf
LU
- organization
- publishing date
- 2006
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proc. IEEE Int. Conf. Robotics and Automation (ICRA 2006)
- conference name
- IEEE Int Conf on Robotics and Automation (ICRA'2006)
- conference location
- Orlando, Florida, United States
- conference dates
- 0001-01-02
- external identifiers
-
- scopus:33845623430
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 3e2083f7-e5e8-479d-850e-f67877d9e9c6 (old id 934833)
- date added to LUP
- 2016-04-04 14:03:15
- date last changed
- 2023-04-09 08:58:31
@inproceedings{3e2083f7-e5e8-479d-850e-f67877d9e9c6,
abstract = {{In this work, we present implementation and experiment<br/><br>
of the theory of dynamic force sensing for robotic<br/><br>
manipulators. Since the inertial forces are undesirable forces to be<br/><br>
measured in the robot manipulation, it is processed, using sensor<br/><br>
fusion techniques, the force sensor signal in order to extract<br/><br>
the contact force exerted by the robot. We propose a complete<br/><br>
formulation and implementation of a new control strategy based<br/><br>
on multisensor fusion with three different sensors --- that is,<br/><br>
encoders mounted at each joint of the robot with six degrees of<br/><br>
freedom, a wrist force sensor and accelerometers --- whose goal is<br/><br>
to obtain a suitable contact force estimator. These new observers<br/><br>
contribute to overcome many of the difficulties of uncertain world<br/><br>
models and unknown environments, which limit the domain of<br/><br>
application of currents robots used without external sensory<br/><br>
feedback; in addition, the final observer can be applied to<br/><br>
any kind of real robot system. An impedance control scheme<br/><br>
was proposed to verify the improvement. The experiments were<br/><br>
carried out on an industrial Stäubli RX60 manipulator with open<br/><br>
control system architectures.}},
author = {{Gámez García, Javier and Robertsson, Anders and Gómez Ortega, Juan and Johansson, Rolf}},
booktitle = {{Proc. IEEE Int. Conf. Robotics and Automation (ICRA 2006)}},
language = {{eng}},
title = {{Generalized Contact Force Estimator for a Robot Manipulator}},
year = {{2006}},
}