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Force and Acceleration Sensor Fusion for Compliant Robot Motion Control

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Author

Summary, in English

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.

Publishing year

2005

Language

English

Pages

2709-2714

Publication/Series

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Keywords

  • Force Control
  • Robot Control
  • Sensor Fusion
  • Observers

Conference name

IEEE International Conference on Robotics and Automation, 2005

Conference date

2005-04-18 - 2005-04-22

Conference place

Barcelona, Spain

Status

Published

Project

  • LU Robotics Laboratory

ISBN/ISSN/Other

  • ISBN: 0-7803-8914-X