Intrinsic Contact Sensing for Touch Interface With Movable Structure

Tsuji, Toshiaki; Seki, Tatsuki; Sakaino, Sho

doi:10.1109/tie.2016.2633232

Cited by 6 publications

(2 citation statements)

References 23 publications

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“…However, the contact position is required to estimate the contact moment. The contact position can be calculated from the relationship between the moment and the force (10) . It is calculated by the following equation.…”

Section: Contact Force Estimationmentioning

confidence: 99%

Dynamics Identification and Contact Force Estimation of Multi DoF Robot Based on Base Frame Force Sensor

Fukutoku

Murakami

2021

The Proceedings of the 9th IIAE International Conference on Industrial Application Engineering 2020

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External force detection system plays an important role for robots to operate in the human living environment. Force information determines the interaction between the robot and the environment. However, there are many restrictions on the use of force sensors. Many force sensors are required for wide range contact detection. The force sensor-less method that uses current and angle information is difficult to apply for high reduction ratio mechanisms. In this paper, we propose a method for estimating contact force using one force sensor implemented in the base frame. It is necessary to identify the robot dynamics in order to estimate the contact force. Only the base frame force sensor and encoders are used to identify the dynamics. Therefore, it is very easy to apply. In addition, since it is not affected by joint friction, it can be applied to high reduction ratio mechanisms. The proposed contact force estimation method has a sensitivity for the entire robots. Therefore, contact detection is possible no matter where the force is applied to the robot. The effectiveness of the dynamics identification and the contact force estimation is verified experimentally.

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Section: Contact Force Estimationmentioning

confidence: 99%

Dynamics Identification and Contact Force Estimation of Multi DoF Robot Based on Base Frame Force Sensor

Fukutoku

Murakami

2021

The Proceedings of the 9th IIAE International Conference on Industrial Application Engineering 2020

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“…However, the end effector is the only limitation for a convex hull. Afterward, T. Tsuji et al proposed a method to calculate the contact position for a structure-variable end effector (12) . This paper proposes an estimation algorithm for detecting the contact force and the contact position on the manipulator with a high reduction ratio mechanism by only one force/torque sensor.…”

Section: Introductionmentioning

confidence: 99%

Identification of Contact Position and Force Estimation on Manipulator Using Force Sensor Implemented on Base Frame

2021

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Sensing is essential in human cooperative robots to realize safe and powerful operations against contact with the surrounding environment. Contact sensing has been studied for manipulators to avoid accidents caused by collisions between humans and robots. Conventional research has demonstrated that contact sensing requires many sensors or has a limited measurable range. In the conventional research without sensors, modeling systems, such as frictional force and plant parameters, have been used to estimate the contact force. However, a high reduction ratio mechanism for achieving powerful operations hinders accurate force estimation. This study proposes a method to estimate the contact force and contact position on a manipulator with a high reduction ratio mechanism by installing only one force/torque sensor on the base frame of the manipulator. By using the proposed method, the contact force and contact position can be detected regardless of the location where the contact force is applied. Furthermore, when the contact force is applied in a location where the contact position cannot be accurately estimated, an estimated disturbance or a link motion is used to determine the contact position. The effectiveness of the proposed method is validated through experiments.

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Force Control at Arbitrary Position of Manipulator Based on Estimated Contact State by Force/Torque Sensor Installed at Base Frame

Handa

Nozaki

2022

2022 IEEE 17th International Conference on Advanced Motion Control (AMC)

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Intrinsic Contact Sensing for Touch Interface With Movable Structure

Cited by 6 publications

References 23 publications

Dynamics Identification and Contact Force Estimation of Multi DoF Robot Based on Base Frame Force Sensor

Dynamics Identification and Contact Force Estimation of Multi DoF Robot Based on Base Frame Force Sensor

Identification of Contact Position and Force Estimation on Manipulator Using Force Sensor Implemented on Base Frame

Force Control at Arbitrary Position of Manipulator Based on Estimated Contact State by Force/Torque Sensor Installed at Base Frame

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