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
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.
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