NDLI: Robotic force estimation using dithering to decrease the low velocity friction uncertainties

Content Provider	IEEE Xplore Digital Library
Author	Stolt, A. Robertsson, A. Johansson, R.
Copyright Year	2015
Description	Author affiliation: Dept. of Autom. Control, Lund Univ., Lund, Sweden (Stolt, A.; Robertsson, A.; Johansson, R.)
Abstract	For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not moving, where the Coulomb friction constitutes a fundamental difficulty. A dithering feedforward torque is used to decrease the Coulomb friction uncertainty, and hence improve the force estimation accuracy when the robot is not moving. The method is validated experimentally through an implementation on an industrial robot. A lead-through scenario is also presented.
Starting Page	3896
Ending Page	3902
File Size	781505
Page Count	7
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139742
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Friction Force Joints Robot sensing systems Estimation
Content Type	Text
Resource Type	Article

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Robotic force estimation using dithering to decrease the low velocity friction uncertainties