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

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

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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, 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.
Original languageEnglish
Title of host publication2018 IEEE Conference on Control Technology and Applications (CCTA)
Number of pages6
PublisherIEEE
Publication date26 Oct 2018
Pages1546-1551
Article number8511329
ISBN (Print)978-1-5386-7699-8
ISBN (Electronic)978-1-5386-7698-1
DOIs
Publication statusPublished - 26 Oct 2018
Event2018 IEEE Conference on Control Technology and Applications (CCTA) - The Scandic Hotel Copenhagen, Copenhagen, Denmark
Duration: 21 Aug 201824 Aug 2018

Conference

Conference2018 IEEE Conference on Control Technology and Applications (CCTA)
LocationThe Scandic Hotel Copenhagen
CountryDenmark
CityCopenhagen
Period21/08/201824/08/2018

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Keywords

  • control
  • robotics
  • interaction

Cite this

Arruñada, N. V., García, A. A., Pedersen, R., & Bak, T. (2018). Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation. In 2018 IEEE Conference on Control Technology and Applications (CCTA) (pp. 1546-1551). [8511329] IEEE. https://doi.org/10.1109/CCTA.2018.8511329