Estimation of individual force at three contact points on an end-effector by a six-axis force/torque sensor

Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji

研究成果: Conference contribution

抄録

When robots interact with the environment, it is necessary for them to detect and control contact forces. In many cases, force/torque sensors or tactile sensors on robots do not contact the environment directly, but instead contact through end-effectors or grasped objects. Thus, robots have to estimate actual contact forces through insensitive objects. However, estimating multiple contact forces through insensitive objects is an ill-posed problem. This paper proposes a method of estimating contact forces on three points separately with a six-axis force/torque sensor on an end-effector. We discovered that the components of contact forces normal to the plane defined by the three contact points can be found uniquely by applying static equilibrium of force and moment. The tangential components of contact forces can also be determined by the use of an additional algorithm. The validity of the proposed method is confirmed by experimental results.

本文言語English
ホスト出版物のタイトルProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
出版社IEEE Computer Society
ページ6409-6414
ページ数6
ISBN(電子版)9781509034741
DOI
出版ステータスPublished - 2016 12 21
外部発表はい
イベント42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
継続期間: 2016 10 242016 10 27

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Conference

Conference42nd Conference of the Industrial Electronics Society, IECON 2016
国/地域Italy
CityFlorence
Period16/10/2416/10/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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