Authors: A. Colomé, D. Pardo, G. Alenyà and C. Torras
Conference: IEEE International Conference on Robotics and Automation (ICRA 2013)
Voice: A. Colomé
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.