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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2404.04419 |
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| _version_ | 1866917631467978752 |
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| author | Nasiri, Ehsan Wang, Long |
| author_facet | Nasiri, Ehsan Wang, Long |
| contents | This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing measurements and velocity commands to compensate the friction bias. This approach is critical for robust execution of precision force-controlled tasks in manufacturing, such as thermoplastic tape replacement that traces surfaces or paths on a workpiece subject to uncertainties deviated from the model. We formulated the proposed method and implemented the framework in ROS2 environment. The approach was validated using kinematic simulations and a hardware platform. Specifically, we demonstrated the approach on a 7-DoF manipulator equipped with a force/torque sensor at the end-effector. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_04419 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Hybrid Force Motion Control with Estimated Surface Normal for Manufacturing Applications Nasiri, Ehsan Wang, Long Robotics This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing measurements and velocity commands to compensate the friction bias. This approach is critical for robust execution of precision force-controlled tasks in manufacturing, such as thermoplastic tape replacement that traces surfaces or paths on a workpiece subject to uncertainties deviated from the model. We formulated the proposed method and implemented the framework in ROS2 environment. The approach was validated using kinematic simulations and a hardware platform. Specifically, we demonstrated the approach on a 7-DoF manipulator equipped with a force/torque sensor at the end-effector. |
| title | Hybrid Force Motion Control with Estimated Surface Normal for Manufacturing Applications |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.04419 |