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Sensor Fusion of Force and Acceleration for Robot Force Control

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Author

Summary, in English

In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncertain models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. A model of the robot-grinding tool using the new sensors was obtained by system identification. 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.

Publishing year

2004

Language

English

Pages

3009-3014

Publication/Series

Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).

Volume

3

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Keywords

  • robot-grinding tool
  • sensor fusion
  • ABB industrial robot
  • force measurement
  • accelerometers
  • end-effectors
  • acceleration measurement
  • force sensors
  • impedance control scheme
  • model-based observer approach
  • open control system
  • robot force control
  • robotic manipulators

Status

Published

Project

  • LU Robotics Laboratory
  • FlexAA

ISBN/ISSN/Other

  • ISBN: 0-7803-8463-6