NDLI: Low-impact dither-based contact detection in motion control

Content Provider	IEEE Xplore Digital Library
Author	Mizuochi, M. Ohnishi, K.
Copyright Year	2013
Description	Author affiliation: Hitachi Res. Lab., Ltd., Hitachi, Japan (Mizuochi, M.) \|\| Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan (Ohnishi, K.)
Abstract	Demand for using robots in unstructured environments has been increasing. Since it is necessary to make contact with objects in order to execute complicated tasks, not only contact avoidance but also contact detection and stabilization of contact are required. This paper focuses on detecting contact during operation and applies the contact detection method using a dither signal to detect contact state at the moment of contact event. Methods for reducing influence of the dither on control or motion are then proposed considering the following two cases: application of the dither on an object is acceptable; and it is preferable to be avoided. A method of separating the dither element from the measured force using a ratio of inputs while applying the force including the dither to an object was proposed for the former case. A method of applying the dither in limited situation and stopping application in the contact state was proposed for the latter case. The validity of the proposed methods was verified by experiments on contact detection during teleoperation.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4186
Ending Page	4191
File Size	2537502
Page Count	6
File Format	PDF
ISBN	9781479902248
ISSN	1553572X
DOI	10.1109/IECON.2013.6699807
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-10
Publisher Place	Austria
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Abstracts Safety Force measurement Force RNA
Content Type	Text
Resource Type	Article

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

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