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

Download the digital copy of the doc pdf document

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, pp. 3535-3540.