التفاصيل البيبلوغرافية
| العنوان: |
Sensor Fusion for Compliant Robot Motion Control. |
| المؤلفون: |
García, Javier Gámez, Robertsson, Anders, Ortega, Juan Gómez, Johansson, Rolf |
| المصدر: |
IEEE Transactions on Robotics; Apr2008, Vol. 24 Issue 2, p430-441, 12p, 2 Black and White Photographs, 1 Diagram, 1 Chart, 22 Graphs |
| مصطلحات موضوعية: |
ROBOT control systems, MANIPULATORS (Machinery), ROBOT dynamics, FEEDBACK control systems, ROBOTICS, DETECTORS |
| مستخلص: |
Force feedback is necessary for accurate force control in robotic manipulators, and thus far, wrist force/torque (F/T) sensors have been used. But an important problem arises when only these types of sensors are used. In a dynamic situation where the manipulator moves in either free or constrained space, the interaction forces and moments at the contact point and also the noncontact ones are measured by the mentioned sensor. In this paper, an estimator based on a sensor fusion strategy integrating the measurements of three different sensors (a wrist FIT sensor, an inertial sensor, and joint sensors) was developed to determine the contact force and torque exerted by the manipulator to its environment. The resulting observer helps to overcome some difficulties of uncertain world models and unknown environments since it reduces the high-frequency and low-frequency spectral contents, i.e., the low-frequency component due to inertia of a heavy tool mass and the high-frequency component due to impacts. The new improvement was experimentally validated in a force/position impedance control loop applied to a Stäubli RX60 industrial robotic platform. [ABSTRACT FROM AUTHOR] |
|
Copyright of IEEE Transactions on Robotics is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| قاعدة البيانات: |
Complementary Index |
