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Estimating First-Order Geometric Parameters and Monitoring Contact Transitions during Force-Controlled Compliant Motion

Herman Bruyninckx

Katholieke Universiteit Leuven, Department of Mechanical Engineering, Leuven, Belgium

Stefan Dutré

Katholieke Universiteit Leuven, Department of Mechanical Engineering, Leuven, Belgium; LMS International, Leuven, Belgium

Jan de Geeter

SCK-CEN Belgian Research Centre for Nuclear Energy, Mol, Belgium

Jayantha Katupitiya

School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, Australia

Sabine Demey

Katholieke Universiteit Leuven, Department of Mechanical Engineering, Leuven, Belgium; Materialise N.V., Leuven, Belgium

Tine Lefebvre

Katholieke Universiteit Leuven, Department of Mechanical Engineering, Leuven, Belgium

This paper uses (linearized) Kalman filters to estimate first-order geometric parameters (i.e., orientation of contact normals and location of contact points) that occur in force-controlled compliant motions. The time variance of these parameters is also estimated. In addition, transitions between contact situations can be monitored. The contact between the manipulated object and its environment is general, i.e., multiple contacts can occur at the same time, and both the topology and the geometry of each single contact are arbitrary.

The two major theoretical contributions are 1) the integration of the general contact model, developed previously by the authors, into a state-space form suitable for recursive processing; and 2) the use of the reciprocity constraint between ideal contact forces and motion freedoms as the "measurement equation" of the Kalman filter. The theory is illustrated by full 3-D experiments.

The approach of this paper allows a breakthrough in the state of the art dominated by the classical, orthogonal contact models of Mason that can only cope with a limited (albeit important) subset of all possible contact situations.

Key Words: compliant motion • Kalman filter • online estimation • task monitoring • contact models • tracking

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