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Compensation of electrical current drift in human–robot collision

The International Journal of Advanced Manufacturing Technology volume 123, pages 2783–2791 (2022)Cite this article

Abstract

Human–robot collaborative systems are being increasingly adopted in manufacturing environments due to their application flexibility, adaptability, and cost-effectiveness. The majority of robotic systems use electrical current sensors to measure joint torque in industrial robot arms and limit the robot’s impact in the event of an unanticipated acceleration/deceleration, such as in the event of a collision with a human operator. However, these electrical current sensors are known to experience sensor drift, which results in measurement inaccuracy that can result in improper joint-torque or end-effector force readings. This paper provides a method to compensate for electrical current drift using a neural network-based controller to control robot velocity. To evaluate the compensation method, an experimental setup was developed where a robot joint collided with the biofidelic test device that mimics the deformation response of the human forearm while simultaneously measuring deformation and contact force using an embedded soft force sensor. The proposed method was shown to compensate for electrical current drift and therefore reduce resulting contact forces between the robot and the biofidelic test device. Hence, this research provides a method to quantify the behavior of electrical current sensor drift on human–robot collision and presents a data-driven methodology for compensation.

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Funding

This work was funded by the National Institute of Standards and Technology and the National Research Council Research Associateship Program.

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Authors and Affiliations

  1. Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, 49931, USA

    Vinh Nguyen

  2. Intelligent Systems Division, National Institute of Standards and Technology, Gaithersburg, MD, 20899, USA

    Jennifer Case

Authors
  1. Vinh Nguyen
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  2. Jennifer Case
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Contributions

All authors contributed to the study conception and design. Material preparation and calibration were performed by Jennifer Case. Experimental setup and data collection were performed by Vinh Nguyen. The first draft of the manuscript was written by Vinh Nguyen, and all authors commented on previous versions of the manuscript. All authors approved the final manuscript.

Corresponding author

Correspondence to Vinh Nguyen.

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The authors declare no competing interests.

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Cite this article

Nguyen, V., Case, J. Compensation of electrical current drift in human–robot collision. Int J Adv Manuf Technol 123, 2783–2791 (2022). https://doi.org/10.1007/s00170-022-10369-y

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  • DOI: https://doi.org/10.1007/s00170-022-10369-y

Keywords

  • Degradation
  • Biofidelic sensors
  • Collaborative robots
  • Neural network
  • Electrical current

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