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Sensorless collision detection and identification utilizing motor current and model-based friction on a 7-DoF manipulator

Puxbaumer, Stefan (2023) Sensorless collision detection and identification utilizing motor current and model-based friction on a 7-DoF manipulator. Masterarbeit, TUM.

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Kurzfassung

Safe physical human-robot interaction is an essential aspect of modern collaborative manipulators. Reliable collision detection and identification are thereby of crucial importance. Joint torque sensors, which are available at high cost, are commonly used for this purpose. In this thesis, a sensorless approach is presented that estimates external joint torques with a momentum observer utilizing motor current and model-based friction. It shows reliable results for joints in motion. Furthermore, the kinematic and dynamic models are extended by a force/torque (F/T) sensor under the base of the robot. An augmented momentum observer is implemented that provides singularity-free estimates of external Cartesian wrenches at a previously known contact point. Moreover, a hybrid form of base F/T sensor and sensorless approach is presented which, by taking into account dynamic effects, provides fast collision detection at previously known contact points. These approaches are tested and evaluated in experiments on a 7-DoF manipulator. Main ref: Maged Iskandar, Oliver Eiberger, Alin Albu-Schäffer, Alessandro De Luca, and Alexander Dietrich, “Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy”. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021, pp. 3111–3117.

elib-URL des Eintrags:https://elib.dlr.de/195141/
Dokumentart:Hochschulschrift (Masterarbeit)
Titel:Sensorless collision detection and identification utilizing motor current and model-based friction on a 7-DoF manipulator
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Puxbaumer, StefanNICHT SPEZIFIZIERTNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:Februar 2023
Referierte Publikation:Nein
Open Access:Nein
Status:veröffentlicht
Stichwörter:external force estimation
Institution:TUM
Abteilung:School of Engineering and Design of the Technical University of Munich
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Robotik
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R RO - Robotik
DLR - Teilgebiet (Projekt, Vorhaben):R - Leichtbau-Robotik [RO], R - Roboterdynamik & Simulation [RO], R - Roboterdynamik & Simulation [SY], R - Leichtbau-Robotik [SY]
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013)
Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme
Hinterlegt von: Iskandar, Maged Samuel Zakri
Hinterlegt am:22 Mai 2023 07:27
Letzte Änderung:15 Jun 2023 07:12

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