Robotic force estimation using dithering to decrease the low velocity friction uncertainties
Robotic force estimation using dithering to decrease the low velocity friction uncertainties
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DOI：
10.1109/icra.2015.7139742
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发表时间：
2015-05
期刊：
影响因子：
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通讯作者：
Andreas Stolt;A. Robertsson;Rolf Johansson
中科院分区：
文献类型：
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作者：
Andreas Stolt;A. Robertsson;Rolf Johansson
为了在机器人与环境进行物理交互的应用中使用工业机器人，例如装配，通常需要力控制。然而，力传感器可能很昂贵，并且会增加系统的质量。因此，另一种选择是使用电机扭矩来估计外力。本文考虑了机器人静止时的力估计问题，其中库仑摩擦是一个基本的困难。利用抖动前馈力矩来减小库仑摩擦的不确定性，从而提高机器人静止时的力估计精度。通过在工业机器人上的实现，对该方法进行了实验验证。文中还给出了一个直通场景。
For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not moving, where the Coulomb friction constitutes a fundamental difficulty. A dithering feedforward torque is used to decrease the Coulomb friction uncertainty, and hence improve the force estimation accuracy when the robot is not moving. The method is validated experimentally through an implementation on an industrial robot. A lead-through scenario is also presented.