Force and acceleration sensor fusion for compliant manipulation control in 6 degrees of freedom

Author: Kröger Torsten   Kubus Daniel   Wahl Friedrich M.  

Publisher: Taylor & Francis Ltd

ISSN: 1568-5535

Source: Advanced Robotics, Vol.21, Iss.14, 2007-10, pp. : 1603-1616

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Abstract

This paper focusses on sensor fusion in robotic manipulation: six-dimensional (6-D) force/torque signals and 6-D acceleration signals are used to extract forces and torques caused by inertia. As result, only forces and torques established by environmental contact(s) remain. Apart from an improvement of hybrid force/pose control behavior, an additional major benefit is that regular resetting/zeroing of force/torque sensors before free space/contact transitions can be omitted. All essential equations, transformations and calculations that are required for this 6-D fusion approach are derived. To highlight the meaning for practical implementations, numerous experiments with a six-joint Staeubli RX60 industrial manipulator are presented and the achieved results are discussed.