Contact detection using dither in force sensorless motion control

Mariko Mizuochi, Kouhei Ohnishi

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Mechatronics, ICM 2013
ページ254-259
ページ数6
DOI
出版ステータスPublished - 2013 7月 1
イベント2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
継続期間: 2013 2月 272013 3月 1

出版物シリーズ

名前2013 IEEE International Conference on Mechatronics, ICM 2013

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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