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IROS
2006
IEEE

6D Force and Acceleration Sensor Fusion for Compliant Manipulation Control

9 years 5 months ago
6D Force and Acceleration Sensor Fusion for Compliant Manipulation Control
— This paper focusses on sensor fusion in robotic manipulation: 6D force/torque signals and 6D acceleration signals are used to extract forces and torques caused by inertia. As result, only forces and torques established by environmental contact(s) remain. Beside an improvement of hybrid force/pose control behavior, an additional major benefit is that regular resetting/zeroing of force/torque sensors before free space/contact transitions can be omitted. All essential equations, transformations, and calculations that are required for this 6D fusion approach are derived. To highlight the meaning for practical implementations, numerous experiments with a six-joint Staeubli RX60 industrial manipulator are presented, and the achieved results are discussed.
Torsten Kröger, Daniel Kubus, Friedrich M. Wa
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Torsten Kröger, Daniel Kubus, Friedrich M. Wahl
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