Force and Acceleration Sensor Fusion for Compliant Robot Motion Control

@article{Garca2005ForceAA,
  title={Force and Acceleration Sensor Fusion for Compliant Robot Motion Control},
  author={Javier G{\'a}mez Garc{\'i}a and Anders Robertsson and Juan G{\'o}mez Ortega and Rolf Johansson},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  year={2005},
  pages={2709-2714}
}
In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors— that is, encoders mounted at each joint of the robot… CONTINUE READING
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