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 n...

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Bibliographic Details
Published in2011 IEEE International Conference on Robotics and Automation pp. 1108 - 1113
Main Authors Van Damme, M., Beyl, P., Vanderborght, B., Grosu, V., Van Ham, R., Vanderniepen, I., Matthys, A., Lefeber, D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2011
Subjects
Equations
Force
Mathematical model
Observers
Robots
Torque
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Summary: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.
ISBN:9781612843865
1612843867
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2011.5980210