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A virtual force sensor for interaction tasks with conventional industrial robots.

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Title: A virtual force sensor for interaction tasks with conventional industrial robots.
Authors: Villagrossi, E.1 enrico.villagrossi@itia.cnr.it, Simoni, L.2, Beschi, M.3, Pedrocchi, N.3, Marini, A.2, Molinari Tosatti, L.3, Visioli, A.2
Source: Mechatronics. Apr2018, Vol. 50, p78-86. 9p.
Subjects: Industrial robots, Automatic control systems, Detectors, Robotics, Dynamic models
Abstract: The attempt to use industrial robots for technological and interaction tasks, i.e., robotic machining and robotic assembling, implies on the one hand the knowledge of the interaction force, on the other hand the reduction of physical sensors. The aim of this work is the development of a virtual force sensor to estimate the interaction force between a conventional industrial robot and the environment. The goal is achieved by exploiting a task oriented dynamics model calibration combined with of a thermal friction model of the robot. The dynamics model is calibrated by means of exciting trajectories made by suitable paths selected by a genetic-based two-stage optimization. The virtual sensor is proven by means of a polishing application. The proposed approach is successfully compared with state-of-the-art approaches. Finally, the use of the virtual force sensor in a closed-loop architecture highlights the effectiveness of the method in real applications. [ABSTRACT FROM AUTHOR]
Copyright of Mechatronics is the property of Pergamon Press - An Imprint of Elsevier Science and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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Header DbId: egs
DbLabel: Engineering Source
An: 128719730
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
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  Data: A virtual force sensor for interaction tasks with conventional industrial robots.
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  Data: <searchLink fieldCode="JN" term="%22Mechatronics%22">Mechatronics</searchLink>. Apr2018, Vol. 50, p78-86. 9p.
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  Data: The attempt to use industrial robots for technological and interaction tasks, i.e., robotic machining and robotic assembling, implies on the one hand the knowledge of the interaction force, on the other hand the reduction of physical sensors. The aim of this work is the development of a virtual force sensor to estimate the interaction force between a conventional industrial robot and the environment. The goal is achieved by exploiting a task oriented dynamics model calibration combined with of a thermal friction model of the robot. The dynamics model is calibrated by means of exciting trajectories made by suitable paths selected by a genetic-based two-stage optimization. The virtual sensor is proven by means of a polishing application. The proposed approach is successfully compared with state-of-the-art approaches. Finally, the use of the virtual force sensor in a closed-loop architecture highlights the effectiveness of the method in real applications. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of Mechatronics is the property of Pergamon Press - An Imprint of Elsevier Science and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1016/j.mechatronics.2018.01.016
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        Text: English
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      – SubjectFull: Detectors
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              Text: Apr2018
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