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JRM Vol.24 No.1 pp. 95-104
doi: 10.20965/jrm.2012.p0095
(2012)

Paper:

Identification of Dominant Error Force Component in Hydraulic Pressure Reading for External Force Detection in Construction Manipulator

Mitsuhiro Kamezaki*, Hiroyasu Iwata**,
and Shigeki Sugano***

*Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan

**Waseda Institute for Advanced Study (WIAS), Waseda University, 1-6-1 Nishi Waseda, Shinjuku-ku, Tokyo 169-8050, Japan

***Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan

Received:
April 30, 2011
Accepted:
August 16, 2011
Published:
February 20, 2012
Keywords:
construction machinery, external force detection, hydraulic sensor, error force identification
Abstract

The purpose of this paper is to develop a fundamental external-force-detection framework for construction manipulators. Such an industrial application demands the practicality that satisfies detection requirements such as the accuracy and robustness while ensuring (i) a low cost, (ii) wide applicability, and (iii) a simple detection algorithm. For satisfying (i) and (ii), our framework first adopts a hydraulic sensor as a force sensor. However, hydraulic-pressure readings essentially include error force components. These components depend strongly on the joint kinetic state and differ in the identification difficulty owing to a nonlinear and uncertain hydromechanical system. For satisfying (ii) and (iii), our framework thus focuses on the dominant error-force components classified by the control input states, such as self-weight, cylinder driving, and oscillating forces, and identifies and removes them by using a theoreticalmodel, an experimental estimation, and a waveform analysis without complex modeling, respectively. Experiments were conducted using an instrumented hydraulic arm system. The results of a no-load task indicate that our framework greatly lowers the threshold to determine the on-off state of external force application, independent of the joint kinetic states. The results of an on-load task confirm that our framework robustly identifies the off states in which an external force is not applied to the hydraulic cylinder.

Cite this article as:
M. Kamezaki, H. Iwata, and <. Sugano, “Identification of Dominant Error Force Component in Hydraulic Pressure Reading for External Force Detection in Construction Manipulator,” J. Robot. Mechatron., Vol.24, No.1, pp. 95-104, 2012.
Data files:
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