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Detection and Control of Contact Force Transients in Robotic Manipulation without a Force Sensor

Karlsson, Martin LU ; Robertsson, Anders LU and Johansson, Rolf LU (2018) 2018 IEEE International Conference on Robotics and Automation In 2018 IEEE International Conference on Robotics and Automation (ICRA)
Abstract
In this research, it is shown that robot joint torques can be used to recognize contact force transients induced during robotic manipulation, thus detecting when a task is completed. The approach does not assume any external sensor, which is a benefit compared to the state of the art. The joint torque data are used as input to a recurrent neural network (RNN), and the output of the RNN indicates whether the task is completed. A real-time application for force transient detection is developed, and verified experimentally on an industrial robot.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
in press
subject
in
2018 IEEE International Conference on Robotics and Automation (ICRA)
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2018 IEEE International Conference on Robotics and Automation
language
English
LU publication?
yes
id
e297ddcb-4bb4-493f-8267-080ee874acc4
date added to LUP
2018-03-13 09:11:20
date last changed
2018-03-16 12:59:10
@inproceedings{e297ddcb-4bb4-493f-8267-080ee874acc4,
  abstract     = {In this research, it is shown that robot joint torques can be used to recognize contact force transients induced during robotic manipulation, thus detecting when a task is completed. The approach does not assume any external sensor, which is a benefit compared to the state of the art. The joint torque data are used as input to a recurrent neural network (RNN), and the output of the RNN indicates whether the task is completed. A real-time application for force transient detection is developed, and verified experimentally on an industrial robot.},
  author       = {Karlsson, Martin and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
  language     = {eng},
  month        = {05},
  pages        = {6},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Detection and Control of Contact Force Transients in Robotic Manipulation without a Force Sensor},
  year         = {2018},
}