Hybrid Force Motion Control with Estimated Surface Normal for Manufacturing Applications
<|reference_start|>Hybrid Force Motion Control with Estimated Surface Normal for Manufacturing Applications: 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.<|reference_end|>
@article{nasiri2024hybrid,
    title={Hybrid Force Motion Control with Estimated Surface Normal for
  Manufacturing Applications},
    author={Ehsan Nasiri and Long Wang},
    journal={arXiv preprint arXiv:2404.04419},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.04419},
    primaryClass={cs.RO}
}