TY - GEN
T1 - Hybrid Force Motion Control with Estimated Surface Normal for Manufacturing Applications
AU - Nasiri, Ehsan
AU - Wang, Long
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing measurements and velocity commands to compensate the friction bias. This approach is critical for robust execution of precision force-controlled tasks in manufacturing, such as thermoplastic tape replacement that traces surfaces or paths on a workpiece subject to uncertainties deviated from the model. We formulated the proposed method and implemented the framework in ROS2 environment. The approach was validated using kinematic simulations and a hardware platform. Specifically, we demonstrated the approach on a 7-DoF manipulator equipped with a force/torque sensor at the end-effector.
AB - This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing measurements and velocity commands to compensate the friction bias. This approach is critical for robust execution of precision force-controlled tasks in manufacturing, such as thermoplastic tape replacement that traces surfaces or paths on a workpiece subject to uncertainties deviated from the model. We formulated the proposed method and implemented the framework in ROS2 environment. The approach was validated using kinematic simulations and a hardware platform. Specifically, we demonstrated the approach on a 7-DoF manipulator equipped with a force/torque sensor at the end-effector.
UR - http://www.scopus.com/inward/record.url?scp=85200709359&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85200709359&partnerID=8YFLogxK
U2 - 10.1109/UR61395.2024.10597498
DO - 10.1109/UR61395.2024.10597498
M3 - Conference contribution
AN - SCOPUS:85200709359
T3 - 2024 21st International Conference on Ubiquitous Robots, UR 2024
SP - 125
EP - 132
BT - 2024 21st International Conference on Ubiquitous Robots, UR 2024
T2 - 21st International Conference on Ubiquitous Robots, UR 2024
Y2 - 24 June 2024 through 27 June 2024
ER -