Detection and Control of Contact Force Transients in Robotic Manipulation Without a Force Sensor

Martin Karlsson; Anders Robertsson; Rolf Johansson

ICRA 2018poster18 citations

Detection and Control of Contact Force Transients in Robotic Manipulation Without a Force Sensor

Martin Karlsson, Anders Robertsson, Rolf Johansson

Abstract

In this research, it is shown that robot joint torques can be used to recognize contact force transients induced during robotic manipulation, thus detecting when a task is completed. The approach does not assume any external sensor, which is a benefit compared to the state of the art. The joint torque data are used as input to a recurrent neural network (RNN), and the output of the RNN indicates whether the task is completed. A real-time application for force transient detection is developed, and verified experimentally on an industrial robot.

BibTeX

@inproceedings{icra2018_detectionandcont,
  title = {Detection and Control of Contact Force Transients in Robotic Manipulation Without a Force Sensor},
  author = {Martin Karlsson and Anders Robertsson and Rolf Johansson},
  booktitle = {ICRA 2018},
  year = {2018}
}