Estimating Robot End-Effector Force from Noisy Actuator Torque Measurements
This paper discusses two ways to estimate the interaction force at the end-effector of a robot. The first approach that is presented combines filtered dynamic equations with a recursive least squares estimation algorithm to provide a smoothened force signal, which is useful in the (common) case of noisy torque measurements. The second approach, which uses a generalized momentum based disturbance observer, is mainly discussed to compare it to the first approach. Although very different in appearance, it is shown that a close connection exists between both approaches. Simulation results for both algorithms are shown, and experimental results derived from a sensorless admittance controller that was implemented using the algorithms are presented.
M. Van Damme P. Beyl B. Vanderborght V. Grosu R. Van Ham I. Vanderniepen I. Vanderniepen D. Lefeber
Robotics & Multibody Mechanics Research Group,Department of Mechanical Engineering,Vrije Universiteit Brussel,Pleinlaan 2,B-1050 Brussels,Belgium
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1108-1113
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）