Sensor Fusion of Force and Acceleration for Robot Force Control

Javier Gámez García; Anders Robertsson; Juan Gómez Ortega; Rolf Johansson

doi:10.1109/IROS.2004.1389867

Sensor Fusion of Force and Acceleration for Robot Force Control

Javier Gámez García, Anders Robertsson, Juan Gómez Ortega, Rolf Johansson

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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Abstract

In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncertain models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. A model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.

Original language	English
Title of host publication	Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	3009-3014
Volume	3
ISBN (Print)	0-7803-8463-6
DOIs	https://doi.org/10.1109/IROS.2004.1389867
Publication status	Published - 2004

Publication series

Name
Volume	3

Subject classification (UKÄ)

Control Engineering

Free keywords

robot-grinding tool
sensor fusion
ABB industrial robot
force measurement
accelerometers
end-effectors
acceleration measurement
force sensors
impedance control scheme
model-based observer approach
open control system
robot force control
robotic manipulators

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10.1109/IROS.2004.1389867

garcia_etal_IROS_2004

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RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
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Johansson, R. (PI) & Nilsson, K. (PI)
2004/01/01 → 2006/12/31
Project: Research

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Gámez García, J., Robertsson, A., Gómez Ortega, J., & Johansson, R. (2004). Sensor Fusion of Force and Acceleration for Robot Force Control. In Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004). (Vol. 3, pp. 3009-3014). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2004.1389867

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title = "Sensor Fusion of Force and Acceleration for Robot Force Control",

abstract = "In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncertain models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. A model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.",

keywords = "robot-grinding tool, sensor fusion, ABB industrial robot, force measurement, accelerometers, end-effectors, acceleration measurement, force sensors, impedance control scheme, model-based observer approach, open control system, robot force control, robotic manipulators",

author = "{G{\'a}mez Garc{\'i}a}, Javier and Anders Robertsson and {G{\'o}mez Ortega}, Juan and Rolf Johansson",

year = "2004",

doi = "10.1109/IROS.2004.1389867",

language = "English",

isbn = "0-7803-8463-6",

volume = "3",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

pages = "3009--3014",

booktitle = "Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).",

address = "United States",

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Gámez García, J, Robertsson, A, Gómez Ortega, J & Johansson, R 2004, Sensor Fusion of Force and Acceleration for Robot Force Control. in Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).. vol. 3, IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 3009-3014. https://doi.org/10.1109/IROS.2004.1389867

Sensor Fusion of Force and Acceleration for Robot Force Control. / Gámez García, Javier; Robertsson, Anders; Gómez Ortega, Juan et al.
Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).. Vol. 3 IEEE - Institute of Electrical and Electronics Engineers Inc., 2004. p. 3009-3014.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Sensor Fusion of Force and Acceleration for Robot Force Control

AU - Gámez García, Javier

AU - Robertsson, Anders

AU - Gómez Ortega, Juan

AU - Johansson, Rolf

PY - 2004

Y1 - 2004

N2 - In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncertain models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. A model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.

AB - In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncertain models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. A model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.

KW - robot-grinding tool

KW - sensor fusion

KW - ABB industrial robot

KW - force measurement

KW - accelerometers

KW - end-effectors

KW - acceleration measurement

KW - force sensors

KW - impedance control scheme

KW - model-based observer approach

KW - open control system

KW - robot force control

KW - robotic manipulators

U2 - 10.1109/IROS.2004.1389867

DO - 10.1109/IROS.2004.1389867

M3 - Paper in conference proceeding

SN - 0-7803-8463-6

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SP - 3009

EP - 3014

BT - Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

ER -

Sensor Fusion of Force and Acceleration for Robot Force Control

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