Bias Estimation and Gravity Compensation for Wrist-Mounted Force/Torque Sensor

Yu, Yongqiang; Shi, Ran; Lou, Yunjiang

doi:10.1109/jsen.2021.3056943

Cited by 10 publications

(6 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In applications of industrial robots such as grinding, the contact force between the end tool of the robot and the external environment needs to be accurately perceived, and the control system modifies the motion of the robot accordingly in order to ensure compliance of the operation. Therefore, gravity compensation is very necessary (Yang et al, 2020 ; Yu et al, 2021 ).…”

Section: Methodsmentioning

confidence: 99%

A Compliant Force Control Scheme for Industrial Robot Interactive Operation

et al. 2022

View full text Add to dashboard Cite

To meet the enormous demand for smart manufacturing, industrial robots are playing an increasingly important role. For industrial operations such as grinding 3C products, numerous demands are placed on the compliant interaction ability of industrial robots to interact in a compliant manner. In this article, an adaptive compliant control framework for robot interaction is proposed. The reference trajectory is obtained by single-point demonstration and DMP generalization. The adaptive feedforward and impedance force controller is derived in terms of position errors, and they are input into an admittance controller to obtain the updated amount of position deviation. The compliant interaction effect is achieved, which is shown that the grinding head fits on the curved surface of a computer mouse, and the interaction force is within a certain expected range in the grinding experiment based on the performance an Elite robot. A comparative experiment was conducted to demonstrate the effectiveness of the proposed framework in a more intuitive way.

show abstract

Section: Methodsmentioning

confidence: 99%

A Compliant Force Control Scheme for Industrial Robot Interactive Operation

et al. 2022

View full text Add to dashboard Cite

show abstract

“…According to the requirements of the assembly and application of the deck, two kinds of compliance control strategies are studied, which are free space force control and pin-oriented docking. Free space force control is based on force feedback to control the motion of all 6 degrees of freedom of the robot 7 . The position and attitude of the workpiece are adjusted completely according to the action of the external force, the position of the workpiece is adjusted by the action of external force, and the attitude of the workpiece is adjusted by the action of external torque 8 .…”

Section: Compliance Assembly Control Of Robotmentioning

confidence: 99%

Research and application of satellite deck installation method based on industrial robot

Lv²,

Xu³

et al. 2022

6th International Conference on Mechatronics and Intelligent Robotics (ICMIR2022)

View full text Add to dashboard Cite

In the general assembly and development of satellites in China, the mechanical overturning trolley with six degree of freedom is generally used for the installation of satellite decks. In this mode, a lot of equipment is needed, the cost is high, the number of operators is large, the assembly efficiency is low, and the assembly quality is difficult to guarantee. In order to solve this problem, the satellite deck installation method based on industrial robot is studied, and the operation mode of mobile robot combined with simple support vehicle is adopted to reduce the cost of tooling; The robot compliance control technology is used to realize the automatic pin guided assembly of the satellite deck, which eliminates the manual precise alignment adjustment operation in the previous manual adjustment mode, and greatly improves the assembly efficiency. Furthermore, due to the application of compliance force control technology, the assembly force can be controlled within the safe range in assembly, so as to ensure the assembly quality. The research results have been applied to the deck installation of Some satellite. The assembly time of a single deck has been shortened from more than 1 hour to less than 30 minutes, and the number of operators has been reduced from 5 to 3. More than 400 deck assemblies have been completed in practical application, which has won precious time for the intensive development of the satellite system 1 .

show abstract

“…As shown in Figure 1, in the process of the robot motion, the force and torque data measured by force/torque sensor are mainly caused by four parts, namely, 1) system error of sensor itself, 2) load gravity effect, 3) inertia force and inertia moment of load, 4) the external contact force [14] [15].…”

Section: Figure 1 Schematic Diagram Of the Force Acting On The Loadmentioning

confidence: 99%

“…In the existing research, the force sensing model of the robot end is usually established by analytical method, that is, considering the physical relationship between the factors affecting the force sensing, the mathematical model between the contact force and known quantities is derived [14][15][16]. However, there are many factors that affect the force sensing, including the installation angle of the robot base, the installation angle of the sensor on the robot, the position and pose feedback error of the robot, etc.…”

Section: Figure 1 Schematic Diagram Of the Force Acting On The Loadmentioning

confidence: 99%

Research on Force Sensing and Zero Gravity Motion Simulation Technology of Industrial Robot

Meng

Zhang

et al. 2021

Preprint

View full text Add to dashboard Cite

Towards the zero-gravity simulation test requirements of spacecraft for on-orbit service missions, the zero-gravity motion simulation technology based on industrial robot was studied. In order to realize the accurate force sensing of load on robot, the BP neural network was used to establish the force prediction model. The model uses the robot pose, acceleration, angular velocity, and angular acceleration as input layer parameters, and uses the data from force/torque sensor on robot wrist as the output layer parameter. In order to realize the accurate force perception in whole working space of the robot, the orthogonal experiment design method was adopted to determine the path points of the robot for sample data collection. Based on the established force prediction model, the accurate force sensing of the end load of the robot under moving conditions is realized. In experiment, for the load with 100kg mass on robot, the maximum error of force sensing is 39.8N, and the root mean square error of force sensing is 9.3N. The maximum error of torque sensing is 18.7Nm, and the root mean square error of torque sensing is 4.4Nm. Furthermore, according to the real-time force sensing results of the robot load, the motion speed of the load in zero-gravity state is calculated by dynamics theory. Then the robot is driven to execute the corresponding motion of the load, and the zero gravity motion simulation of the load is realized.

show abstract

Bias Estimation and Gravity Compensation for Wrist-Mounted Force/Torque Sensor

Cited by 10 publications

References 21 publications

A Compliant Force Control Scheme for Industrial Robot Interactive Operation

A Compliant Force Control Scheme for Industrial Robot Interactive Operation

Research and application of satellite deck installation method based on industrial robot

Research on Force Sensing and Zero Gravity Motion Simulation Technology of Industrial Robot

Contact Info

Product

Resources

About