Interaction Force Computation Exploiting Environment Stiffness Estimation for Sensorless Robot Applications

摘要

Industrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment. However, standard controllers require force/torque measurements to close the loop. Most of the industrial manipulators do not have embedded force/torque sensor(s), requiring additional efforts (i.e., additional costs and implementation resources) for such integration in the robotic setup. To extend the use of compliant controllers to sensorless force control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, an Extended Kalman Filter (EKF) is proposed to estimate the interaction environment stiffness. Exploiting such estimation, the interaction force can be computed, e.g., to close the force loop, making the sensorless robot able to perform the target task (e.g., probing task, assembly task). The described approach has been validated with experiments. A Franka EMIKA panda robot has been used as a test platform. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKF. The computed interaction force (on the basis of the estimated environment stiffness) has been compared with the Franka EMIKA panda robot force measurements to prove the effectiveness of the proposed approach.