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

fYear

2013

fDate

Oct. 30 2013-Nov. 2 2013

Firstpage

78

Lastpage

79

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on

Conference_Location

Jeju

Print_ISBN

978-1-4799-1195-0

Type

conf

DOI

10.1109/URAI.2013.6677476

Filename

6677476