Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation

Noelia Villarmarzo Arruñada, Alejandro Alonso García, Rasmus Pedersen, Thomas Bak

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

Resumé

The use of collaborative robots enhances human capabilities, leading to better working conditions and increased productivity. In building construction, such robots are needed, among other tasks, to install large glass panels, where the robot takes care of the heavy lifting part of the job while the operator directly manipulates the panel to install it. In order to facilitate physical human robot interaction, an
algorithm for estimating the operator input force is presented. It features a nonlinear observer structure embedded into an extended Kalman filter that also considers measurements from load cells. In this way the designed algorithm is more robust to
modeling errors. The derivation of the needed kinematic and dynamic model is also presented and the performance of the estimation is evaluated on on a high fidelity simulation model of the wall mounting robot called WallMo.
OriginalsprogEngelsk
Titel2018 IEEE Conference on Control Technology and Applications (CCTA)
Antal sider6
ForlagIEEE
Publikationsdato26 okt. 2018
Sider1546-1551
Artikelnummer8511329
ISBN (Trykt)978-1-5386-7699-8
ISBN (Elektronisk)978-1-5386-7698-1
DOI
StatusUdgivet - 26 okt. 2018
Begivenhed2018 IEEE Conference on Control Technology and Applications (CCTA) - The Scandic Hotel Copenhagen, Copenhagen, Danmark
Varighed: 21 aug. 201824 aug. 2018

Konference

Konference2018 IEEE Conference on Control Technology and Applications (CCTA)
LokationThe Scandic Hotel Copenhagen
LandDanmark
ByCopenhagen
Periode21/08/201824/08/2018

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Human robot interaction
Mountings
Robots
Extended Kalman filters
Dynamic models
Kinematics
Productivity
Glass

Emneord

    Citer dette

    Arruñada, N. V., García, A. A., Pedersen, R., & Bak, T. (2018). Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation. I 2018 IEEE Conference on Control Technology and Applications (CCTA) (s. 1546-1551). [8511329] IEEE. https://doi.org/10.1109/CCTA.2018.8511329
    Arruñada, Noelia Villarmarzo ; García, Alejandro Alonso ; Pedersen, Rasmus ; Bak, Thomas. / Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation. 2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, 2018. s. 1546-1551
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    abstract = "The use of collaborative robots enhances human capabilities, leading to better working conditions and increased productivity. In building construction, such robots are needed, among other tasks, to install large glass panels, where the robot takes care of the heavy lifting part of the job while the operator directly manipulates the panel to install it. In order to facilitate physical human robot interaction, analgorithm for estimating the operator input force is presented. It features a nonlinear observer structure embedded into an extended Kalman filter that also considers measurements from load cells. In this way the designed algorithm is more robust tomodeling errors. The derivation of the needed kinematic and dynamic model is also presented and the performance of the estimation is evaluated on on a high fidelity simulation model of the wall mounting robot called WallMo.",
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    Arruñada, NV, García, AA, Pedersen, R & Bak, T 2018, Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation. i 2018 IEEE Conference on Control Technology and Applications (CCTA)., 8511329, IEEE, s. 1546-1551, Copenhagen, Danmark, 21/08/2018. https://doi.org/10.1109/CCTA.2018.8511329

    Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation. / Arruñada, Noelia Villarmarzo; García, Alejandro Alonso; Pedersen, Rasmus; Bak, Thomas.

    2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, 2018. s. 1546-1551 8511329.

    Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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    Arruñada NV, García AA, Pedersen R, Bak T. Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation. I 2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE. 2018. s. 1546-1551. 8511329 https://doi.org/10.1109/CCTA.2018.8511329