Identification of Contact Position and Force Estimation on Manipulator Using Force Sensor Implemented on Base Frame

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2021/05/01

タイトル(英語): Identification of Contact Position and Force Estimation on Manipulator Using Force Sensor Implemented on Base Frame

著者名: Hinako Handa (Graduate School of Science and Technology Keio University), Takahiro Nozaki (Department of System Design Engineering, Keio University/Massachusetts Institute of Technology), Toshiyuki Murakami (Department of System Design Engineering, Keio U

著者名(英語): Hinako Handa (Graduate School of Science and Technology Keio University), Takahiro Nozaki (Department of System Design Engineering, Keio University/Massachusetts Institute of Technology), Toshiyuki Murakami (Department of System Design Engineering, Keio U

キーワード: contact position，force sensing，force sensor，high reduction ratio mechanism，manipulator

要約(英語): Sensing is essential in human cooperative robots to realize safe and powerful operations against contact with the surrounding environment. Contact sensing has been studied for manipulators to avoid accidents caused by collisions between humans and robots. Conventional research has demonstrated that contact sensing requires many sensors or has a limited measurable range. In the conventional research without sensors, modeling systems, such as frictional force and plant parameters, have been used to estimate the contact force. However, a high reduction ratio mechanism for achieving powerful operations hinders accurate force estimation. This study proposes a method to estimate the contact force and contact position on a manipulator with a high reduction ratio mechanism by installing only one force/torque sensor on the base frame of the manipulator. By using the proposed method, the contact force and contact position can be detected regardless of the location where the contact force is applied. Furthermore, when the contact force is applied in a location where the contact position cannot be accurately estimated, an estimated disturbance or a link motion is used to determine the contact position. The effectiveness of the proposed method is validated through experiments.

本誌: IEEJ Journal of Industry Applications Vol.10 No.3 （2021）

本誌掲載ページ: 324-330 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/10/3/10_20004772/_article/-char/ja/