Publication
External force estimation during compliant robot manipulation
Conference Article
Conference
IEEE International Conference on Robotics and Automation (ICRA)
Edition
2013
Pages
3535-3540
Doc link
http://dx.doi.org/10.1109/ICRA.2013.6631072
File
Authors
Projects associated
Abstract
This paper presents a method to estimate external forces exerted on a manipulator, avoiding the use of a sensor. The method is based on task-oriented dynamics model learning and a robust disturbance state observer. The combination of both leads to an efficient torque observer that can be incorporated to any control scheme. The use of a learned based approach avoids the need of analytical models of friction or Coriolis dynamics effects.
Categories
manipulators, robot dynamics.
Author keywords
external force estimation, disturbance observer, computed torque control
Scientific reference
A. Colomé, D. Pardo, G. Alenyà and C. Torras. External force estimation during compliant robot manipulation, 2013 IEEE International Conference on Robotics and Automation, 2013, Karlsruhe, Germany, pp. 3535-3540.
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