Name
Title | ||
|---|---|---|
Force and acceleration sensor fusion for compliant manipulation control in 6 degrees of freedom |
Abstract | ||
|---|---|---|
This paper focusses on sensor fusion in robotic manipulation: six-dimensional (6-D) force/torque signals and 6-D acceleration signals are used to extract forces and torques caused by inertia. As result, only forces and torques established by environmental contact(s) remain. Apart from an improvement of hybrid force/pose control behavior, an additional major benefit is that regular resetting/zeroing of force/torque sensors before free space/contact transitions can be omitted. All essential equations, transformations and calculations that are required for this 6-D fusion approach are derived. To highlight the meaning for practical implementations, numerous experiments with a six-joint Staeubli RX60 industrial manipulator are presented and the achieved results are discussed. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1163/156855307782227435 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
sensor fusion,force/torque control,acceleration sensing,compliant motion control,hybrid control,task frame programming | Torque,Control theory,Degrees of freedom (mechanics),Industrial manipulator,Fusion,Sensor fusion,Control engineering,Free space,Acceleration,Inertia,Engineering | Journal |
Volume | Issue | ISSN |
21 | 14 | 0169-1864 |
Citations | PageRank | References |
4 | 0.50 | 4 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Torsten Kröger | 1 | 196 | 27.13 |
| Daniel Kubus | 2 | 48 | 9.02 |
| Friedrich M. Wahl | 3 | 794 | 186.93 |