Sensorless Torque Estimation using Adaptive Kalman Filter and Disturbance Estimator

摘要：

This paper presents a stochastic estimation method and a signal processing based method for estimating disturbance torques without using any force sensors. The first method will address a robustness against measurement noises by estimating noise covariance. The second method will show several practical merits. By containing system models inside of the estimator, the total disturbance torque injected into the plant is estimated. The experimental results conducted using a master-slave manipulator show the validity of two proposed methods.

作者: Sang-Chul Lee Hyo-Sung Ahn

作者单位: Distributed Control and Autonomous Systems Laboratory,Department of mechatronics, Gwangju Institute of Science and Technology (GIST), Korea

会议类型: 国际会议

会议名称: 2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

会议地点: 青岛

会议语种:英文

页码: 87-92

在线出版日期: 2010-07-15（万方平台首次上网日期，不代表论文的发表时间）