Experimental Validation of a Wrench Virtual Sensor for Impedance-Controlled Robots
| Main Authors: | Loris Roveda, Andrea Bussolan, Francesco Braghin, Dario Piga |
|---|---|
| Format: | Proceeding Journal |
| Terbitan: |
, 2020
|
| Subjects: | |
| Online Access: |
https://youtu.be/_EYfReAHHlk |
| ctrlnum |
4781024 |
|---|---|
| fullrecord |
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<dc schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/ http://www.openarchives.org/OAI/2.0/oai_dc.xsd"><creator>Loris Roveda</creator><creator>Andrea Bussolan</creator><creator>Francesco Braghin</creator><creator>Dario Piga</creator><date>2020-12-10</date><description>Industrial robots are commonly used to perform interaction tasks, requiring the robot to establish contact with the surrounding (unknown) environment. While standard force controllers require force/torque measurements to close the loop, most of the industrial manipulators do not have installed force/torque sensor(s). To extend the use of compliant controllers (i.e., impedance control) to sensorless interaction control, a model-based methodology is presented in this paper for the online estimation of the interaction wrench, implementing a 6D virtual sensor based on the design of an Extended Kalman Filter (EKF). Experimental validation of the proposed EKF has been performed in a human-robot interaction task, employing a Franka EMIKA panda robot. Achieved estimation performance show fast dynamics, together with limited errors.</description><description>https://youtu.be/_EYfReAHHlk</description><identifier>https://zenodo.org/record/4781024</identifier><identifier>10.5281/zenodo.4781024</identifier><identifier>oai:zenodo.org:4781024</identifier><relation>doi:10.5281/zenodo.4781023</relation><relation>url:https://zenodo.org/communities/irim3d-2020</relation><rights>info:eu-repo/semantics/openAccess</rights><rights>https://creativecommons.org/licenses/by/4.0/legalcode</rights><subject>Extended Kalman Filter</subject><subject>wrench estimation</subject><subject>6D virtual sensor</subject><subject>sensorless Cartesian impedance control</subject><title>Experimental Validation of a Wrench Virtual Sensor for Impedance-Controlled Robots</title><type>Journal:Proceeding</type><type>Journal:Proceeding</type><recordID>4781024</recordID></dc>
|
| format |
Journal:Proceeding Journal Journal:Journal |
| author |
Loris Roveda Andrea Bussolan Francesco Braghin Dario Piga |
| title |
Experimental Validation of a Wrench Virtual Sensor for Impedance-Controlled Robots |
| publishDate |
2020 |
| topic |
Extended Kalman Filter wrench estimation 6D virtual sensor sensorless Cartesian impedance control |
| url |
https://youtu.be/_EYfReAHHlk |
| contents |
Industrial robots are commonly used to perform interaction tasks, requiring the robot to establish contact with the surrounding (unknown) environment. While standard force controllers require force/torque measurements to close the loop, most of the industrial manipulators do not have installed force/torque sensor(s). To extend the use of compliant controllers (i.e., impedance control) to sensorless interaction control, a model-based methodology is presented in this paper for the online estimation of the interaction wrench, implementing a 6D virtual sensor based on the design of an Extended Kalman Filter (EKF). Experimental validation of the proposed EKF has been performed in a human-robot interaction task, employing a Franka EMIKA panda robot. Achieved estimation performance show fast dynamics, together with limited errors. |
| id |
IOS16997.4781024 |
| institution |
ZAIN Publications |
| institution_id |
7213 |
| institution_type |
library:special library |
| library |
Cognizance Journal of Multidisciplinary Studies |
| library_id |
5267 |
| collection |
Cognizance Journal of Multidisciplinary Studies |
| repository_id |
16997 |
| subject_area |
Multidisciplinary |
| city |
Stockholm |
| province |
INTERNASIONAL |
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1 |
| repoId |
IOS16997 |
| first_indexed |
2022-06-06T02:34:28Z |
| last_indexed |
2022-06-06T02:34:28Z |
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dc |
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1734895326717804544 |
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17.610285 |