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An efficient and accurate force/torque sensing method based on an excitation trajectory

Kang Min (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)
Fenglei Ni (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)
Hong Liu (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 17 February 2023

222

Abstract

Purpose

The purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for the robotic wrist-mounted six-dimensional F/T sensor based on an excitation trajectory.

Design/methodology/approach

This paper presents an efficient and accurate F/T sensing method based on an excitation trajectory. First, the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity. Therefore, the sensing accuracy is improved. Then, the excitation trajectory with optimized poses is used for robot following and data acquisition. The data acquisition is not limited by poses and its time can be significantly shortened. Finally, the least squares method is used to identify parameters and sense contact forces/torques.

Findings

Experiments have been carried out on the self-developed robot manipulator. The results strongly demonstrate that the proposed approach is more efficient and accurate than the existing widely-adopted method. Furthermore, the data acquisition time can be shortened from more than 60 s to 3 s/20 s. Thus, the proposed approach is effective and suitable for fast-paced industrial applications.

Originality/value

The main contributions of this paper are as follows: the dynamic identification model is established by comprehensively considering inertial forces/torques, sensor zero-drift values, robot base inclination errors and forces/torques caused by load gravity; and the excitation trajectory with optimized poses is used for robot following and data acquisition.

Keywords

Acknowledgements

Funding: This work is supported by the National Natural Science Foundation of China (Grant No. 51875114) and Self-Planned Task (No. SKLRS202204B) of State Key Laboratory of Robotics and System (HIT).

Conflicts of interest: The authors declare that they have no conflict of interest.

Availability of data and material: The data sets supporting the results of this paper are included within the paper.

Code availability: Not applicable.

Authors’ contributions: Conceptualization, Methodology, Formal analysis and investigation: (Kang, Min and Fenglei, Ni); Writing – original draft preparation: (Kang, Min); Writing – review and editing: (Kang, Min and Fenglei, Ni); Funding acquisition: (Fenglei, Ni); Resources: (Fenglei, Ni and Hong, Liu); Supervision: (Fenglei, Ni and Hong, Liu).

Citation

Min, K., Ni, F. and Liu, H. (2023), "An efficient and accurate force/torque sensing method based on an excitation trajectory", Industrial Robot, Vol. ahead-of-print No. ahead-of-print. https://doi.org/10.1108/IR-08-2022-0206

Publisher

:

Emerald Publishing Limited

Copyright © 2023, Emerald Publishing Limited

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