音響フィードバックによるロボット研削の閉ループ力制御
Acoustic Feedback for Closed-Loop Force Control in Robotic Grinding
接触マイクで研削音を取得し、音響信号から研削力をリアルタイム推定して閉ループ力制御を実現する低コストなロボット研削システムを提案した。従来の力覚センサに比べ約200倍安価で、研削ディスク状態の変化に対する一貫性が4倍向上する。
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著者: Zongyuan Zhang, Christopher Lehnert, Will N. Browne, Jonathan M. Roberts
分類: cs.RO
原文アブストラクト
Acoustic feedback is a critical indicator for assessing the contact condition between the tool and the workpiece when humans perform grinding tasks with rotary tools. In contrast, robotic grinding systems typically rely on force sensing, with acoustic information largely ignored. This reliance on force sensors is costly and difficult to adapt to different grinding tools, whereas audio sensors (microphones) are low-cost and can be mounted on any medium that conducts grinding sound. This paper introduces a low-cost Acoustic Feedback Robotic Grinding System (AFRG) that captures audio signals with a contact microphone, estimates grinding force from the audio in real time, and enables closed-loop force control of the grinding process. Compared with conventional force-sensing approaches, AFRG achieves a 4-fold improvement in consistency across different grinding disc conditions. AFRG relies solely on a low-cost microphone, which is approximately 200-fold cheaper than conventional force sensors, as the sensing modality, providing an easily deployable, cost-effective robotic grinding solution.
