Title :
Fast online impedance estimation for robot control
Author :
Wang, Zheng ; Peer, Angelika ; Buss, Martin
Author_Institution :
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich
Abstract :
In this paper a fast online estimation method of impedance parameters is proposed based on the forgetting factor recursive least squares identification method. The performance of the proposed method is accessed by simulation and robotic experiments. Comparing with existing methods, the proposed method shows fast tracking performance to parameter changes while achieving robustness to noise. The algorithm has been implemented to online robot control and can be generalized to meet other needs.
Keywords :
least squares approximations; manipulators; recursive functions; robust control; fast online impedance estimation; forgetting factor; recursive least square identification method; robot control; robot manipulator; robustness; Force control; Humans; Impedance; Least squares approximation; Manipulator dynamics; Noise robustness; Recursive estimation; Resonance light scattering; Robot control; Robot sensing systems;
Conference_Titel :
Mechatronics, 2009. ICM 2009. IEEE International Conference on
Conference_Location :
Malaga
Print_ISBN :
978-1-4244-4194-5
Electronic_ISBN :
978-1-4244-4195-2
DOI :
10.1109/ICMECH.2009.4957217
