Relative accuracy enhancement system based on internal error range estimation for external force measurement in construction manipulator

Mitsuhiro Kamezaki*, Hiroyasu Iwata, Shigeki Sugano

*この研究の対応する著者

研究成果

4 被引用数 (Scopus)

抄録

This paper proposes a practical framework for measuring the external force applied to a construction manipulator (front load vector) by using a hydraulic sensor. Such a force measurement system requires high accuracy and robustness considering the uncertainty in the construction machinery field, but it inevitably includes measurement errors owing to difficult-to-reduce modeling errors. Our framework thus adopts a relative accuracy improvement strategy without correcting the models for the practicality. It comprises (i) quantifying the internal error range (IER) by using the sum of the maximal measurement errors of static and dynamic friction forces, which change in postural and kinematic conditions, (ii) calculating the error force vector by using IER to select cylinders (sensors) that have less error, and (iii) outputting the front load vector using the cylinders whose error force vector is minimum. Experiments were conducted using an instrumented hydraulic arm. The results indicate that our framework can enhance the relative accuracy of external force measurement independently of various postural and kinematic conditions.

本文言語English
ホスト出版物のタイトルIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルCelebrating 50 Years of Robotics
ページ3734-3739
ページ数6
DOI
出版ステータスPublished - 2011 12 29
イベント2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
継続期間: 2011 9 252011 9 30

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
国/地域United States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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