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Sensor-less external force detection for industrial manipulators to facilitate physical human-robot interaction
KTH, School of Industrial Engineering and Management (ITM), Production Engineering. School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan China; Hubei Key Laboratory of Broadband Wireless Communication and Sensor Networks Wuhan University of Technology Wuhan China.
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0001-8679-8049
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2018 (English)In: Journal of Mechanical Science and Technology, ISSN 1738-494X, E-ISSN 1976-3824, Vol. 32, no 10, p. 4909-4923Article in journal (Refereed) Published
Abstract [en]

Sensor-less external force detection is important for industrial robots which are usually not equipped with external force sensors to be applied in physical human-robot interaction (pHRI). This paper adopts the dynamic models of the robot in both dynamic mode and quasistatic mode to detect the external force. In the dynamic mode, the inertia and friction parameters of the robot are identified with the weighted least squares. The excitation trajectory for parameter identification is optimised. The un-modelled peak points in the joint torque residual are removed by a statistical method. The torque changes of joints in quasi-static mode which are equivalent to the joint pre-sliding friction is modelled with a lumped parameter model, generalised Maxwell slip (GMS) element model. Therefore, there is no need for the switching between the friction models in different modes and this and facilitates the application of dynamic model in the external force detection. The dynamic models of robots both in dynamic mode and quasi-static mode and their effectiveness for external force detection in pHRI are verified by experimental results.

Place, publisher, year, edition, pages
Korean Society of Mechanical Engineers , 2018. Vol. 32, no 10, p. 4909-4923
Keywords [en]
Dynamics, External force detection, Generalised Maxwell slip element, Parameter identification, Physical human-robot interaction, Dynamic models, Friction, Identification (control systems), Industrial manipulators, Industrial robots, Man machine systems, Manipulators, Parameter estimation, External force detections, Friction parameters, Lumped parameter modeling, Physical human-robot interactions, Physical humanrobot interaction (phri), Quasi-static modes, Weighted least squares, Human robot interaction
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-247157DOI: 10.1007/s12206-018-0939-5ISI: 000448196900036Scopus ID: 2-s2.0-85055343095OAI: oai:DiVA.org:kth-247157DiVA, id: diva2:1313973
Note

QC 20190507

Available from: 2019-05-07 Created: 2019-05-07 Last updated: 2019-05-07Bibliographically approved

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Yao, BitaoWang, Lihui

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