Compensation of Load Dynamics for Admittance Controlled Interactive Industrial Robots Using a Quaternion-Based Kalman Filter

Farsoni, Saverio; Landi, Chiara Talignani; Ferraguti, Federica; Secchi, Cristian; Bonfè, Marcello

doi:10.1109/lra.2017.2651393

Cited by 40 publications

(13 citation statements)

References 20 publications

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“…Robot velocities and accelerations can be measured using specific hardware (e.g. gyroscopes and accelerometers) or estimated using, for example, the quaternion-based Kalman filter introduced in Farsoni et al (2017).…”

Section: Online Detection Of Increasing Oscillations In Phrimentioning

confidence: 99%

A variable admittance control strategy for stable physical human–robot interaction

Ferraguti

Landi

Sabattini

et al. 2019

The International Journal of Robotics Research

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122

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Admittance control allows a desired dynamic behavior to be reproduced on a non-backdrivable manipulator and it has been widely used for interaction control and, in particular, for human–robot collaboration. Nevertheless, stability problems arise when the environment (e.g. the human) the robot is interacting with becomes too stiff. In this paper, we investigate the stability issues related to a change of stiffness of the human arm during the interaction with an admittance-controlled robot. We propose a novel method for detecting the rise of instability and a passivity-preserving strategy for restoring a stable behavior. The results of the paper are validated on two robotic setups and with 50 users performing two tasks that emulate industrial operations.

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Section: Online Detection Of Increasing Oscillations In Phrimentioning

confidence: 99%

A variable admittance control strategy for stable physical human–robot interaction

Ferraguti

Landi

Sabattini

et al. 2019

The International Journal of Robotics Research

Self Cite

122

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“…These data can be estimated by using Kalman filters starting from the current pose of the robot end-effector x, as suggested in ref. [28]. In order to compensate the static and dynamic effects of the object held by the robot end-effector, it is required to relate the dynamics of the tool and its inertial parameters, that is, mass, center of mass, and inertia tensor, with the forces/torques measured by the F/T sensor.…”

Section: Admittance Control With Payload Compensationmentioning

confidence: 99%

“…These uncertainties can be compensated by applying threshold-based logics as, for example, the one provided in ref. [28]. Therefore, the expression of contact forces/torques can be written as follows:F…”

Section: Admittance Control With Payload Compensationmentioning

confidence: 99%

A Unified Architecture for Physical and Ergonomic Human–Robot Collaboration

Ferraguti¹,

Villa²,

Landi³

et al. 2019

Robotica

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SUMMARYIndustrial applications that involve working on and moving a heavy load or that constrain the operator to work in uncomfortable positions can take advantage of the assistance of a robotic assistant. In this paper, we propose an architecture for an ergonomic human–robot co-manipulation of objects of various shapes and weight. The object is carried by the robot and, thanks to an ergonomic planner, is positioned in the most comfortable way for the user. Furthermore, thanks to an admittance control with payload compensation, the user can easily adjust the position of the object for working on different parts of it. The proposed architecture is experimentally validated in a robotic cell including an ABB industrial robot.

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“…In the meantime, the force/torque sensor measures the wrench F ext that is applied by the human operator when the manual correction is applied. If objects are attached to the robot end-effector or if collisions with the environment occur, a low pass filter can be added ( [39]) to avoid the detection of undesired forces. The Admittance Control uses the wrench information coming from the sensor, along with x d , to compute the reference position that has to be followed by the robot low-level position control.…”

Section: Proposed Control Architecturementioning

confidence: 99%

A Passivity-Based Strategy for Manual Corrections in Human-Robot Coaching

et al. 2019

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In recent years, new programming techniques have been developed in the human-robot collaboration (HRC) field. For example, walk-through programming allows to program the robot in an easy and intuitive way. In this context, a modification of a portion of the trajectory usually requires the teaching of the path from the beginning. In this paper we propose a passivity-based method to locally change a trajectory based on a manual human correction. At the beginning the robot follows the nominal trajectory, encoded through the Dynamical Movement Primitives, by setting high control gains. When the human grasps the end-effector, the robot is made compliant and he/she can drive it along the correction. The correction is optimally joined to the nominal trajectory, resuming the path tracking. In order to avoid unstable behaviors, the variation of the control gains is performed exploiting energy tanks, preserving the passivity of the interaction. Finally, the correction is spatially fixed so that a variation in the boundary conditions (e.g., the initial/final points) does not affect the modification.

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Compensation of Load Dynamics for Admittance Controlled Interactive Industrial Robots Using a Quaternion-Based Kalman Filter

Cited by 40 publications

References 20 publications

A variable admittance control strategy for stable physical human–robot interaction

A variable admittance control strategy for stable physical human–robot interaction

A Unified Architecture for Physical and Ergonomic Human–Robot Collaboration

A Passivity-Based Strategy for Manual Corrections in Human-Robot Coaching

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