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

被引：38

作者：

Farsoni, Saverio ^{[1
]}

Landi, Chiara Talignani ^{[2
]}

Ferraguti, Federica ^{[2
]}

Secchi, Cristian ^{[2
]}

Bonfe, Marcello ^{[1
]}

机构：

[1] Univ Ferrara, Dept Engn, I-44121 Ferrara, Italy

[2] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn, I-41121 Modena, Italy

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2017年 / 2卷 / 02期

关键词：

Industrial robots; physical human-robot interaction; compliance and impedance control; TRACKING;

D O I：

10.1109/LRA.2017.2651393

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：672 / 679

页数：8

共 25 条

[1] Robust Impedance Control of Manipulators Carrying a Heavy Payload [J].