Title :
Unified external torque-sensing algorithm for flexible-joint robot based on Kalman filter
Author :
Young Jin Park ; Wan Kyun Chung
Author_Institution :
Dept. of Mech. Eng., POSTCH, Pohang, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
The external torque estimation problem in a flexible-joint robot system with joint torque sensors is revisited. A flexible-joint robot has two dynamics, motor dynamics and manipulator dynamics, resulting undesirable sensor torques reflecting neither the external link torques nor the actuating motor torques. A unified external torque-sensing algorithm for a flexible-joint robot is proposed, which estimates all the external torques by full utilizing the flexible-joint robot dynamics, regardless of the flexible-joint robot system condition. The basic structure of the proposed algorithm is illustrated, and the performance verification is briefly discussed.
Keywords :
Kalman filters; flexible manipulators; manipulator dynamics; sensors; torque; Kalman filter; actuating motor torques; external link torques; external torque estimation problem; external torque-sensing algorithm; flexible-joint robot dynamics; flexible-joint robot system condition; joint torque sensors; manipulator dynamics; motor dynamics; performance verification; undesirable sensor torques; Kalman filter; external torque estimation; random walk model; unified approach;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677476
