Estimating robot end-effector force from noisy actuator torque measurements

Damme, Michaël Van; Beyl, Pieter; Vanderborght, Bram; Grosu, Victor; Ham, Ronald Van; Vanderniepen, Innes; Matthys, Arnout; Lefeber, Dirk

doi:10.1109/icra.2011.5980210

Cited by 72 publications

(41 citation statements)

References 20 publications

(28 reference statements)

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“…Modern methods for wrench estimation are based on the use of state space observers [5] [6]. Intuition behind this idea is that the robot is experimenting external forces that produce changes in its state, therefore, by estimating the internal state of the system and assuming that certain part of the total inputs is known, an estimation of perturbations (external inputs/forces) can be completed.…”

Section: Learning Robot Inverse Dynamicsmentioning

confidence: 99%

See 1 more Smart Citation

External force estimation during compliant robot manipulation

Colomé

Pardo

Alenyà

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-This paper presents a method to estimate external forces exerted on a manipulator during motion, avoiding the use of a sensor. The method is based on task-oriented dynamics model learning and a robust disturbance state observer. The combination of both leads to an efficient torque observer that can be incorporated to any control scheme. The use of a learning-based approach avoids the need of analytical models of joints' friction or Coriolis dynamics effects.

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Section: Learning Robot Inverse Dynamicsmentioning

confidence: 99%

“…In order to avoid the use of such devices, recent works [5] [6] present approaches for estimating the wrench or, at least, the joint torques due to an external action during manipulation.…”

Section: Introductionmentioning

confidence: 99%

External force estimation during compliant robot manipulation

Colomé

Pardo

Alenyà

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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“…Some previous researches have adopted approaches in which an end effector force is estimated or calculated without force sensor [10][11][12][13]. Others have reported that joint stiffness that cannot be measured directly is estimated or calculated [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Sustainable Multi-Modal Sensing by a Single Sensor Utilizing the Passivity of an Elastic Actuator

2014

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When a robot equipped with compliant joints driven by elastic actuators contacts an object and its joints are deformed, multi-modal information, including the magnitude and direction of the applied force and the deformation of the joint, is used to enhance the performance of the robot such as dexterous manipulation. In conventional approaches, some types of sensors used to obtain the multi-modal information are attached to the point of contact where the force is applied and at the joint. However, this approach is not sustainable for daily use in robots, i.e., not durable or robust, because the sensors can undergo damage due to the application of excessive force and wear due to repeated contacts. Further, multiple types of sensors are required to measure such physical values, which add to the complexity of the device system of the robot. In our approach, a single type of sensor is used and it is located at a point distant from the contact point and the joint, and the information is obtained indirectly by the measurement of certain physical parameters that are influenced by the applied force and the joint deformation. In this study, we employ the McKibben pneumatic actuator whose inner pressure changes passively when a force is applied to the actuator. We derive the relationships between information and the pressures of a two-degrees-of-freedom (2-DoF) joint mechanism driven by four pneumatic actuators. Experimental results show that the multi-modal information can be obtained by using the set of pressures measured before and after the force is applied. Further, we apply our principle to obtain the stiffness values of certain contacting objects that can subsequently be categorized by using the aforementioned relationships.

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“…Another approach is based on using the motor torques to estimate the applied external torques; two such examples are [7], [8]. An approach for detection of external torques without external sensing using the generalized momentum is [9], where the method relies on knowledge of a dynamical model of the robot.…”

Section: Introductionmentioning

confidence: 99%

Sensorless friction-compensated passive lead-through programming for industrial robots

Stolt

Carlson

Ardakani

et al. 2015

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

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Abstract-Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The lead-through programming is experimentally evaluated using two different industrial robots.

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Estimating robot end-effector force from noisy actuator torque measurements

Cited by 72 publications

References 20 publications

External force estimation during compliant robot manipulation

External force estimation during compliant robot manipulation

Sustainable Multi-Modal Sensing by a Single Sensor Utilizing the Passivity of an Elastic Actuator

Sensorless friction-compensated passive lead-through programming for industrial robots

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