Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings - ICRA 2023 |
| Subtitle of host publication | IEEE International Conference on Robotics and Automation |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 12092-12098 |
| Number of pages | 7 |
| ISBN (electronic) | 9798350323658 |
| ISBN (print) | 979-8-3503-2366-5 |
| Publication status | Published - 2023 |
| Event | 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, United Kingdom (UK) Duration: 29 May 2023 → 2 Jun 2023 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| Volume | 2023-May |
| ISSN (Print) | 1050-4729 |
Abstract
Parallel robots provide the potential to be lever-aged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg chains increases compared to the structure of serial robots. As a first step towards HRC, contact cases on the whole parallel robot structure are investigated and a disturbance observer based on generalized momenta and measurements of motor current is applied. In addition, a Kalman filter and a second-order sliding-mode observer based on generalized momenta are compared in terms of error and detection time. Gearless direct drives with low friction improve external force estimation and enable low impedance. The experimental validation is performed with two force-torque sensors and a kinetostatic model. This allows a new identification method of the motor torque constant of an assembled parallel robot to estimate external forces from the motor current and via a dynamics model. A Cartesian impedance control scheme for compliant robot-environmental dynamics with stiffness from 0.1-2N/mm and the force observation for low forces over the entire structure are validated. The observers are used for collisions and clamping at velocities of 0.4-0.9 m/s for detection within 9-58 ms and a reaction in the form of a zero-g mode.
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Artificial Intelligence
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Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2023. p. 12092-12098 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection
AU - Mohammad, Aran
AU - Schappler, Moritz
AU - Ortmaier, Tobias
N1 - Funding Information: ACKNOWLEDGMENT The authors acknowledge the support by the German Research Foundation (Deutsche Forschungsgemeinschaft) under grant number 444769341.
PY - 2023
Y1 - 2023
N2 - Parallel robots provide the potential to be lever-aged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg chains increases compared to the structure of serial robots. As a first step towards HRC, contact cases on the whole parallel robot structure are investigated and a disturbance observer based on generalized momenta and measurements of motor current is applied. In addition, a Kalman filter and a second-order sliding-mode observer based on generalized momenta are compared in terms of error and detection time. Gearless direct drives with low friction improve external force estimation and enable low impedance. The experimental validation is performed with two force-torque sensors and a kinetostatic model. This allows a new identification method of the motor torque constant of an assembled parallel robot to estimate external forces from the motor current and via a dynamics model. A Cartesian impedance control scheme for compliant robot-environmental dynamics with stiffness from 0.1-2N/mm and the force observation for low forces over the entire structure are validated. The observers are used for collisions and clamping at velocities of 0.4-0.9 m/s for detection within 9-58 ms and a reaction in the form of a zero-g mode.
AB - Parallel robots provide the potential to be lever-aged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg chains increases compared to the structure of serial robots. As a first step towards HRC, contact cases on the whole parallel robot structure are investigated and a disturbance observer based on generalized momenta and measurements of motor current is applied. In addition, a Kalman filter and a second-order sliding-mode observer based on generalized momenta are compared in terms of error and detection time. Gearless direct drives with low friction improve external force estimation and enable low impedance. The experimental validation is performed with two force-torque sensors and a kinetostatic model. This allows a new identification method of the motor torque constant of an assembled parallel robot to estimate external forces from the motor current and via a dynamics model. A Cartesian impedance control scheme for compliant robot-environmental dynamics with stiffness from 0.1-2N/mm and the force observation for low forces over the entire structure are validated. The observers are used for collisions and clamping at velocities of 0.4-0.9 m/s for detection within 9-58 ms and a reaction in the form of a zero-g mode.
UR - http://www.scopus.com/inward/record.url?scp=85168660555&partnerID=8YFLogxK
U2 - 10.1109/ICRA48891.2023.10161217
DO - 10.1109/ICRA48891.2023.10161217
M3 - Conference contribution
AN - SCOPUS:85168660555
SN - 979-8-3503-2366-5
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 12092
EP - 12098
BT - Proceedings - ICRA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Y2 - 29 May 2023 through 2 June 2023
ER -