Identification of Contact Conditions by Active Force Sensing - Estimated Parameter Uncertainty and Experimental Verification -

被引：3

作者：

Yamada, Takayoshi ^{[1
]}

Tanaka, Akira ^{[2
]}

Yamada, Manabu ^{[3
]}

Funahashi, Yasuyuki ^{[4
]}

Yamamoto, Hidehiko ^{[1
]}

机构：

[1] Gifu Univ, Dept Human & Informat Syst, Fac Engn, 1-1 Yanagido, Gifu 5011193, Japan

[2] MISUZU Corp Co Ltd, Nagano, Nagano 3800922, Japan

[3] Nagoya Inst Technol, Grad Sch Engn, Showa Ku, Nagoya, Aichi 4668555, Japan

[4] Chukyo Univ, Dept Syst Engn Human Body, Toyota, Aichi 4700393, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2011年 / 23卷 / 01期

关键词：

robot; contact conditions; active force sensing; estimated parameter uncertainty; robot skill enhancement;

D O I：

10.20965/jrm.2011.p0044

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Accomplishing assembly tasks using robots requires that contact conditions between grasped objects and environments be identified and controlled during task execution. We propose estimated parameter uncertainty of contact location and direction, discussing four contact types - point, soft-finger, line, and planar contact. We formulate a least-squares function (i.e., performance index) including contact location and direction. The uncertainty of estimates is derived using the rest error of minimized index. The effectiveness of our proposed method is demonstrated through experiments.

引用

页码：44 / 52

页数：9

共 15 条

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