Contact force estimation for robotic assembly using motor torques

Wahrburg, Arne; Zeiss, Stefan; Matthias, Björn; Ding, Hu

doi:10.1109/coase.2014.6899487

Cited by 30 publications

(18 citation statements)

References 23 publications

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“…6(d), respectively, showing estimated contact forces during execution of the snap-fits. The contact forces were estimated using the scheme proposed in [17] and we emphasize that only joint angle and motor torque information is needed. No additional sensing (e.g.…”

Section: Resultsmentioning

confidence: 99%

“…The execution of the movements is supervised by comparing actual pose and wrench data to the trajectory defined in the parameterized skill and trigger corresponding transitions in the motion net. For supervision of contact forces, either force/torque sensing or contact force estimation [8], [15], [16], [17] can be employed. While supervision enables a quality assessment of the execution, it can also be regarded as the basis for systematic error handling routines.…”

Section: Skill-based Assembly Executionmentioning

confidence: 99%

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Combined pose-wrench and state machine representation for modeling Robotic Assembly Skills

Wahrburg¹,

Zeiss²,

Matthias³

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-A new Robotic Assembly Skill (RAS) modeling framework is proposed. An assembly skill is a primitive that encapsulates the capabilities to coordinate, control and supervise an elementary robot task. To gain reusability of a primitive in alike robot tasks, the primitives are represented as generic templates that are parametrized for each situation with data from an assembly specification. A skill is represented in two ways, namely as a trajectory describing compliant motions in pose-wrench space and as a finite state machine. This approach comes with the potential to simplify robot programming and to improve robustness in robotic assembly due to inherent quality checking. The approach is implemented on an ABB YuMi robot performing the assembly of a programmable logic controller (PLC) I/O module.

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Section: Resultsmentioning

confidence: 99%

Section: Skill-based Assembly Executionmentioning

confidence: 99%

Combined pose-wrench and state machine representation for modeling Robotic Assembly Skills

Wahrburg¹,

Zeiss²,

Matthias³

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…However, in practice, because of the noise of the AC servo motor current signal and the inaccuracy of dynamic modelling, this approach is not good at estimating the robot end force. Some researchers chose a new kind of DC motor robot, researched the robot end contact force control without force/torque sensors, and obtained some beneficial results [13,14]. For general AC servo motor-based industrial robots, a disturbance observer should be used for robot end contact force estimation so that this approach is an estimation method based on robot internal signals.…”

Section: Introductionmentioning

confidence: 99%

“…References [10][11][12][13][14][15][16][17][18][19][20][21][22][23] mentioned the use of the disturbance observer to estimate external forces, but the research topics are different from the topics studied in this paper. References [10,11,15] were validated only on two-link robots with simple dynamics models.…”

Section: Introductionmentioning

confidence: 99%

“…References [10,11,15] were validated only on two-link robots with simple dynamics models. References [12][13][14]19] took collaborative robots as the research object, and this kind of robot is directly driven by DC motors. As compared with normal industrial robots, the transmission mechanism of DC motor-driving robots is greatly simplified, and the noise in the motor torque signal is greatly reduced.…”

Section: Introductionmentioning

confidence: 99%

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Disturbance Observer‐Based Robot End Constant Contact Force‐Tracking Control

Liang

2019

Complexity

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A disturbance observer-based hybrid sliding mode impedance control method is proposed in this paper, which is able to achieve robot end constant contact force-tracking control without force/torque sensors. The method requires only the values of joint torque, joint angle, and joint angular velocity, which are converted by robot servo motor signals, to implement the control. The control scheme consists of two parts: one is a disturbance observer and the other is a hybrid sliding mode impedance controller. The disturbance observer, which takes robot internal signals mentioned above as the inputs to estimate the robot end contact force, is designed based on generalized momentum, thus improving the estimation accuracy. The hybrid sliding mode impedance controller, which uses the values estimated by the disturbance observer and the robot internal signals as the inputs to calculate the corresponding position adjustment, integrates both the impedance control and sliding mode control, thus improving the force-tracking performance and robustness. Experimental results show that the proposed disturbance observer-based hybrid sliding mode impedance control method possesses high control precision.

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