On the Control of Translationally Flexible Base Manipulators

Garofalo, Gianluca; Beck, Fabian; Klodmann, Julian; Ott, Christian

doi:10.23919/ecc51009.2020.9143790

Cited by 2 publications

(4 citation statements)

References 21 publications

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“…Using the identified sensor parameters, the accuracy of the estimation from either sensor concept could be compared from base wrenches when calculated with (15). Figure 9…”

Section: Calibration Procedures and Resultsmentioning

confidence: 99%

“…Exploiting these concepts (that intrinsically introduce compliance at the base) will require advanced control and vibration damping concepts. This will be another aspect of future research, which will build upon existing approaches such as [ 14 , 15 ].…”

Section: Discussion and Outlookmentioning

confidence: 99%

“…This concept found industrial application in Fanuc's collaborative CR robot series [11]. The base sensor measurements further enable the admittance/impedance control at the EE as reported in [12,13], which builds upon the compliance control of robot with elastic base with measurements at the EE [14,15]. This control concept is relevant for the application addressed in the following.…”

Section: Introductionmentioning

confidence: 99%

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Design and Calibration of Robot Base Force/Torque Sensors and Their Application to Non-Collocated Admittance Control for Automated Tool Changing

Gattringer

Müller

Hoermandinger

2021

Sensors

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Robotic manipulators physically interacting with their environment must be able to measure contact forces/torques. The standard approach to this end is attaching force/torque sensors directly at the end-effector (EE). This provides accurate measurements, but at a significant cost. Indirect measurement of the EE-loads by means of torque sensors at the actuated joint of a robot is an alternative, in particular for series-elastic actuators, but requires dedicated robot designs and significantly increases costs. In this paper, two alternative sensor concept for indirect measurement of EE-loads are presented. Both sensors are located at the robot base. The first sensor design involves three load cells on which the robot is mounted. The second concept consists of a steel plate with four spokes, at which it is suspended. At each spoke, strain gauges are attached to measure the local deformation, which is related to the load at the sensor plate (resembling the main principle of a force/torque sensor). Inferring the EE-load from the so determined base wrench necessitates a dynamic model of the robot, which accounts for the static as well as dynamic loads. A prototype implementation of both concepts is reported. Special attention is given to the model-based calibration, which is crucial for these indirect measurement concepts. Experimental results are shown when the novel sensors are employed for a tool changing task, which to some extend resembles the well-known peg-in-the-hole problem.

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“…Using the identified sensor parameters, the accuracy of the estimation from either sensor concept could be compared from base wrenches when calculated with (15). Figure 9…”

Section: Calibration Procedures and Resultsmentioning

confidence: 99%

Section: Discussion and Outlookmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Calibration of Robot Base Force/Torque Sensors and Their Application to Non-Collocated Admittance Control for Automated Tool Changing

Gattringer

Müller

Hoermandinger

2021

Sensors

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“…Recently, augmented projections based on coordinate transformation is proposed by Dongjun Lee in [30]. Different coordinate transformation methods are proposed by Gianluca Garofalo et al in [31,32], where the dynamic consistency is satisfied with the decoupling of joint space and operation space.…”

Section: Introductionmentioning

confidence: 99%

Visual Servo Control of the Macro/Micro Manipulator with Base Vibration Suppression and Backlash Compensation

et al. 2022

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This study investigates the visual servo control of the space station macro/micro manipulator system. The proposed approach is based on the position-based eye-in-hand visual servo (PBVS) and takes advantage of the hardware sensors to overcome the macro manipulator’s base flexibility and joint backlash. First, a vibration suppression approach based on the reaction force feedback control is proposed, the deflection forces are measured by the six-axis force/torque sensor at the base of the micro-manipulator, and damping is injected into the flexible base in the closed-loop control to suppress the base vibration. Second, the small changes of joint backlash are compensated based on the macro manipulator joint angles sensor and converted to the desired motion of the payloads. Finally, PBVS with the lag correction is proposed, which is adequate for the precise positioning of large payloads with significant low-frequency oscillations. Ground micro-gravity experiment implementation is discussed, simulations and experiments are carried out based on the equivalent 3-DOF flexible base manipulator system and the macro/micro manipulator ground facilities, and results demonstrate the effectiveness of the proposed control algorithm.

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On the Control of Translationally Flexible Base Manipulators

Cited by 2 publications

References 21 publications

Design and Calibration of Robot Base Force/Torque Sensors and Their Application to Non-Collocated Admittance Control for Automated Tool Changing

Design and Calibration of Robot Base Force/Torque Sensors and Their Application to Non-Collocated Admittance Control for Automated Tool Changing

Visual Servo Control of the Macro/Micro Manipulator with Base Vibration Suppression and Backlash Compensation

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