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
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Other

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

Fingerprint

Motion control
Robots
Stabilization
Monitoring
Experiments

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] https://doi.org/10.1109/ICMECH.2013.6518545

Contact detection using dither in force sensorless motion control. / Mizuochi, Mariko; Ohnishi, Kouhei.

2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 254-259 6518545.

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

Mizuochi, M & Ohnishi, K 2013, Contact detection using dither in force sensorless motion control. in 2013 IEEE International Conference on Mechatronics, ICM 2013., 6518545, pp. 254-259, 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 13/2/27. https://doi.org/10.1109/ICMECH.2013.6518545
Mizuochi M, Ohnishi K. Contact detection using dither in force sensorless motion control. In 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 254-259. 6518545 https://doi.org/10.1109/ICMECH.2013.6518545
Mizuochi, Mariko ; Ohnishi, Kouhei. / Contact detection using dither in force sensorless motion control. 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. pp. 254-259
@inproceedings{38772caf3cda40d5bdecccde56ea2724,
title = "Contact detection using dither in force sensorless motion control",
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.",
author = "Mariko Mizuochi and Kouhei Ohnishi",
year = "2013",
doi = "10.1109/ICMECH.2013.6518545",
language = "English",
isbn = "9781467313889",
pages = "254--259",
booktitle = "2013 IEEE International Conference on Mechatronics, ICM 2013",

}

TY - GEN

T1 - Contact detection using dither in force sensorless motion control

AU - Mizuochi, Mariko

AU - Ohnishi, Kouhei

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84879325611&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84879325611&partnerID=8YFLogxK

U2 - 10.1109/ICMECH.2013.6518545

DO - 10.1109/ICMECH.2013.6518545

M3 - Conference contribution

SN - 9781467313889

SP - 254

EP - 259

BT - 2013 IEEE International Conference on Mechatronics, ICM 2013

ER -