Performance quantification of observer-based robot impact detection under modeling uncertainties

This work proposes a design and performance quantification methodology for observer-based impact detection in serial robot manipulators in presence of modelling errors and without force/torque sensor. After expressing the modelling errors between the physical robot and its inverse dynamic model as t...

Full description

Saved in:
Bibliographic Details
Published in:International journal of intelligent robotics and applications Online 2019-06, Vol.3 (2), p.207-220
Main Authors: Briquet-Kerestedjian, Nolwenn, Makarov, Maria, Grossard, Mathieu, Rodriguez-Ayerbe, Pedro
Format: Article
Language:English
Subjects:
Algorithms
Artificial Intelligence
Computer Science
Control
Design parameters
Dynamic models
Electronics and Microelectronics
Engineering Sciences
Errors
Friction
Instrumentation
Kalman filters
Machines
Manufacturing
Mechatronics
Noise measurement
Numerical differentiation
Parameter uncertainty
Processes
Regular Paper
Robot arms
Robotics
Robots
Sensors
Simulation
Torque sensors (robotics)
User Interfaces and Human Computer Interaction
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This work proposes a design and performance quantification methodology for observer-based impact detection in serial robot manipulators in presence of modelling errors and without force/torque sensor. After expressing the modelling errors between the physical robot and its inverse dynamic model as the sum of contributions due to dynamic parameters uncertainties and numerical differentiation errors for a given trajectory, an observer of the external disturbance torque is designed based on the inverse dynamic model and using a Kalman filter. The influence of each design parameter of the observer on the quality of the external torque estimation is studied first based on simulation results. Then a frequency analysis is conducted to distinguish between the influence of the exact external torque, the modelling uncertainties and the measurement noise on the estimated external torque. Finally a methodology is proposed to determine the optimal design corresponding to the shortest detection time depending on the expected sensitivity.
ISSN:2366-5971
2366-598X
DOI:10.1007/s41315-018-0068-4