NDLI: Relative accuracy enhancement system based on internal error range estimation for external force measurement in construction manipulator

Content Provider	IEEE Xplore Digital Library
Author	Kamezaki, Mitsuhiro Iwata, Hiroyasu Sugano, Shigeki
Copyright Year	2011
Description	Author affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan (Sugano, Shigeki) \|\| Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan (Kamezaki, Mitsuhiro) \|\| Waseda Institute for Advanced Study (WIAS), Waseda University, 1-6-1 Nishi Waseda, Shinjuku-ku, Tokyo 169-8050, Japan (Iwata, Hiroyasu)
Abstract	This paper proposes a practical framework for measuring the external force applied to a construction manipulator (front load vector) by using a hydraulic sensor. Such a force measurement system requires high accuracy and robustness considering the uncertainty in the construction machinery field, but it inevitably includes measurement errors owing to difficult-to-reduce modeling errors. Our framework thus adopts a relative accuracy improvement strategy without correcting the models for the practicality. It comprises (i) quantifying the internal error range (IER) by using the sum of the maximal measurement errors of static and dynamic friction forces, which change in postural and kinematic conditions, (ii) calculating the error force vector by using IER to select cylinders (sensors) that have less error, and (iii) outputting the front load vector using the cylinders whose error force vector is minimum. Experiments were conducted using an instrumented hydraulic arm. The results indicate that our framework can enhance the relative accuracy of external force measurement independently of various postural and kinematic conditions.
Starting Page	3734
Ending Page	3739
File Size	1924808
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6095115
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Vectors Force measurement Accuracy Manipulators Friction Measurement uncertainty
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Mechanics-based kinematic modeling of a continuum manipulator

A novel low-friction manipulator for bimanual joint-level robot control and active constraints

Friction coefficients and grasp synthesis

Novel collision detection index based on joint torque sensors for a redundant manipulator

A new class of locally decoupled Gough-Stewart platform manipulators

A prototype of aerial manipulator

Counteracting modeling errors for sensitive observer-based manipulator collision detection

Sensor-based redundancy resolution for a nonholonomic mobile manipulator

Multi-axis force measurement based on vision-based fluid-type hemispherical tactile sensor

Relative accuracy enhancement system based on internal error range estimation for external force measurement in construction manipulator

Similar Documents

Mechanics-based kinematic modeling of a continuum manipulator

A novel low-friction manipulator for bimanual joint-level robot control and active constraints

Friction coefficients and grasp synthesis

Novel collision detection index based on joint torque sensors for a redundant manipulator

A new class of locally decoupled Gough-Stewart platform manipulators

A prototype of aerial manipulator

Counteracting modeling errors for sensitive observer-based manipulator collision detection

Sensor-based redundancy resolution for a nonholonomic mobile manipulator

Multi-axis force measurement based on vision-based fluid-type hemispherical tactile sensor

Relative accuracy enhancement system based on internal error range estimation for external force measurement in construction manipulator