DocumentCode
233038
Title
A method of estimating robot end-effector force based on H∞ filting
Author
Ding Yi ; Xu JianMing
Author_Institution
Coll. of lnformation Eng., Zhejiang Univ. of Technol., Hangzhou, China
fYear
2014
fDate
28-30 July 2014
Firstpage
7921
Lastpage
7926
Abstract
This paper discusses the issue of estimating external force exerted on the end-effector of manipulators by using the information from joint torque which can be obtained by measuring the motor current. The manipulator dynamics model without obviously involving acceleration is firstly established by low pass filting. A method of estimating external force being as state variables is then proposed with H∞ filting. The performance of the proposed algorithm is evaluated through a simulation of a two degree-of-freedom manipulator in MATLAB/SIMULINK.
Keywords
end effectors; force control; low-pass filters; manipulator dynamics; H∞ filter; Matlab; Simulink; force estimation; joint torque; low pass filter; manipulator dynamics model; motor current; robot end-effector force; state variables; External force estimation; H∞ filting; Manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2014 33rd Chinese
Conference_Location
Nanjing
Type
conf
DOI
10.1109/ChiCC.2014.6896323
Filename
6896323
Link To Document