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Variable Dynamic Threshold of Jerk Signal for Contact Detection in Industrial Robots without Force Sensor
Author(s) -
Shimada Naoki,
Yoshioka Takashi,
Ohishi Kiyoshi,
Miyazaki Toshimasa,
Yokokura Yuki
Publication year - 2015
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22585
Subject(s) - jerk , control theory (sociology) , robot , industrial robot , signal (programming language) , torque , contact force , inverse dynamics , observer (physics) , computer science , control engineering , engineering , simulation , artificial intelligence , control (management) , acceleration , kinematics , physics , classical mechanics , quantum mechanics , thermodynamics , programming language
SUMMARY This study proposes a variable dynamic threshold for a jerk signal for achieving contact detection in industrial robots. Sensorless force control is useful in applications in advanced industrial robots. The external torque of each joint is estimated accurately by using a disturbance observer and by inverse dynamics calculations. However, the phase lag of the disturbance observer and the dynamic parameter error create force estimation errors. These errors hamper quick and reliable contact detection in industrial robots. Therefore, this study proposes a useful approach to contact detection that uses a variable dynamic threshold for a jerk signal. The proposed variable dynamic threshold reduces contact detection failures caused by force estimation errors during the free motion of a robot. The proposed threshold is suitable for robot motion and improves the speed of contact detection. Numerical simulation results show that the proposed method is valid for the parameter variations in an actual industrial robot. In addition, experimental results show that the dynamic threshold is a useful technique for application to general robot systems as well. The dynamic threshold is useful in applications for any industrial sensorless force control system.