External force estimation during compliant robot manipulation

0
175

More info:
//www.iri.upc.edu/publications/show/1378

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

Voice: A. Colomé

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.

source

LEAVE A REPLY

Please enter your comment!
Please enter your name here

seventeen − 15 =