A practical load detection framework considering uncertainty in hydraulic pressure-based force measurement for construction manipulator

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

This paper proposes a practical framework for detecting (identifying the on-off state of) the external force applied to a construction manipulator (front load) by using a hydraulic sensor. Such a detection system requires high accuracy and robustness considering the uncertainty in pressure-based force measurement. Our framework is thus organized into (i) identifying the dominant error force component (self-weight and driving force) using theoretical and experimental estimation and binarizing the analog external cylinder force, (ii) evaluating detection conditions to address indeterminate conditions such as stroke-end, singular posture, and impulsive or oscillatory force and redefining three-valued outputs such as on, off, or not determinate (ND), and (iii) outputting the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our framework adequately detects on, off, and ND outputs of the front load in various detection conditions without misidentification.

元の言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Automation, ICRA 2011
ページ5869-5874
ページ数6
DOI
出版物ステータスPublished - 2011 12 1
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
継続期間: 2011 5 92011 5 13

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷物)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
China
Shanghai
期間11/5/911/5/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • これを引用

    Kamezaki, M., Iwata, H., & Sugano, S. (2011). A practical load detection framework considering uncertainty in hydraulic pressure-based force measurement for construction manipulator. : 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 5869-5874). [5980413] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980413