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
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| Subjects: | |
| Online Access: |
https://youtu.be/_EYfReAHHlk |
Daftar Isi:
- 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.