Contact detection using dither in force sensorless motion control

Mariko Mizuochi, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Demand for using robots in unstructured environments has been increasing. When operating robots in unstructured environments, the robots often come into contact with objects intentionally or unintentionally. Since it is necessary to make contact with an object 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. A real-time force sensorless contact detection method based on applying dither and time-frequency analysis is proposed. Since the influence of dither on acceleration is attenuated when contact occurs, the proposed method judges the state of contact by monitoring the decrease in the dither frequency component of acceleration. The validity of the proposed method was shown by the improvement in contact detection performance verified through experiments.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages254-259
Number of pages6
DOIs
Publication statusPublished - 2013 Jul 1
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Mizuochi, M., & Ohnishi, K. (2013). Contact detection using dither in force sensorless motion control. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 254-259). [6518545] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6518545