A novel low-cost impedance control structure is proposed for monitoring the contact force between end-effector and environment without installing an expensive force/torque sensor. Theoretically, the end-effector contact force can be estimated from the superposition of each joint control torque. There have a nonlinear matrix mapping function between each joint motor control input and end-effector actuating force/torques vector. This new force control structure can be implemented based on this estimated mapping matrix. First, the robot end-effector is manipulated to specified positions, then the force controller is actuated based on the hall sensor current feedback of each joint motor. The model-free fuzzy sliding mode control (FSMC) strategy is employed to design the position and force controllers, respectively. All the hardware circuits and software control programs are designed on an Altera Nios II embedded development kit to constitute an embedded system structure for a retrofitted Mitsubishi 5 DOF robot. Experimental results show that PI and FSMC force control algorithms can achieve reasonable contact force monitoring objective based on this hardware control structure.


    Access

    Download


    Export, share and cite



    Title :

    Robotic End-Effector Impedance Control without Expensive Torque/Force Sensor


    Contributors:

    Publication date :

    2013-07-23


    Remarks:

    oai:zenodo.org:1087175



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    TORQUE-LIMITING END EFFECTOR

    DELIZO STAN / HAN YEN-LIN / CELUSTKA BRIAN et al. | European Patent Office | 2021

    Free access

    A Constant-force End-effector with Online Force Adjustment for Robotic Ultrasonography

    Bao, Xianqiang / Wang, Shuangyi / Housden, Richard James et al. | BASE | 2021

    Free access

    Robotic end effector interface systems

    OLEYNIK MARK | European Patent Office | 2023

    Free access

    Control with a Compliant Force-Torque Sensor

    Lange, Friedrich / Suppa, Michael / Hirzinger, Gerd | German Aerospace Center (DLR) | 2012

    Free access

    Providing assist torque without hand wheel torque sensor

    CHAMPAGNE ANTHONY J / KAUFMANN TIMOTHY W / PATTOK KATHRYN L et al. | European Patent Office | 2018

    Free access