The paper describes a control architecture for industrial robotic applications allowing human/robot interactions, using an admittance control scheme and direct sensing of the human inputs. The aim of the proposed scheme is to support the operator of an industrial robot, equipped with a force/torque (F/T) sensor on the end-effector, during human/robot collaboration tasks involving heavy payloads carried by the robot. In these practical applications, the dynamics of the load may significatively affect the measurements of the F/T sensor. Model-based compensation of such dynamic effects requires to compute linear acceleration and angular acceleration/velocity of the load, that in this paper are estimated by means of a quaternion-based Kalman filter and assuming that the only available measurements come from the forward kinematics of the robot. Experimental results demonstrate the feasibility of the approach and its industrial applicability.

Compensation of Load Dynamics for Admittance Controlled Interactive Industrial Robots Using a Quaternion-Based Kalman Filter

FARSONI, Saverio
Primo
;
BONFE', Marcello
Ultimo
2017

Abstract

The paper describes a control architecture for industrial robotic applications allowing human/robot interactions, using an admittance control scheme and direct sensing of the human inputs. The aim of the proposed scheme is to support the operator of an industrial robot, equipped with a force/torque (F/T) sensor on the end-effector, during human/robot collaboration tasks involving heavy payloads carried by the robot. In these practical applications, the dynamics of the load may significatively affect the measurements of the F/T sensor. Model-based compensation of such dynamic effects requires to compute linear acceleration and angular acceleration/velocity of the load, that in this paper are estimated by means of a quaternion-based Kalman filter and assuming that the only available measurements come from the forward kinematics of the robot. Experimental results demonstrate the feasibility of the approach and its industrial applicability.
2017
Farsoni, Saverio; Landi, Chiara Talignani; Ferraguti, Federica; Secchi, Cristian; Bonfe', Marcello
File in questo prodotto:
File Dimensione Formato  
RAL_kalquat_final.pdf

accesso aperto

Descrizione: Post print
Tipologia: Post-print
Licenza: PUBBLICO - Pubblico con Copyright
Dimensione 785.17 kB
Formato Adobe PDF
785.17 kB Adobe PDF Visualizza/Apri
11392_2363687_FULL_Bonfe.pdf

solo gestori archivio

Descrizione: Full text editoriale
Tipologia: Full text (versione editoriale)
Licenza: NON PUBBLICO - Accesso privato/ristretto
Dimensione 1.09 MB
Formato Adobe PDF
1.09 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in SFERA sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/2363687
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 41
  • ???jsp.display-item.citation.isi??? 34
social impact