1A1-C03 External Force Vector Measurement Applied to Construction Manipulator : Relative Measurement Accuracy Improvement Based on Internal Error Range Estimation(Robotics and Mechatronics in Construction and Demolition)

Abstract

This paper reports a practical framework for measuring the external force vector applied to a construction manipulator using hydraulic sensors. Such a measuring system inevitably includes measuring errors owing to difficult-to-reduce modeling errors, so our framework introduces relative measuring accuracy improvement. It is organized into (i) quantifying internal error range (IER) using the summation of the maximum measuring error of static and dynamic friction forces, (ii) calculating error force vectors using IER to select cylinders with less errors, and (iii) outputting the external force vector using the selected cylinders. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our framework enables to improve the relative measuring accuracy, independently of various postural and kinematic conditions.