Hybrid Force Motion Control with Estimated Surface Normal for Manufacturing Applications
CoRR(2024)
摘要
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.
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