지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 1,794 - 1,798 (5page)
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초록· 키워드
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This paper proposes an algorithm to estimate external forces exerted on the end-effector of a robot manipulator using information from joint torque sensors (JTS). The algorithm is the combination of Time Delay Estimation (TDE) and input estimation technique where the external force is considered as an unknown input to the robot manipulator. Based on TDE’s idea, the estimator which does not require an accurate dynamics model of the robot manipulator is developed. The simultaneous input and state estimation (SISE) is used to reduce not only nonlinear uncertainties of the robot dynamics but also the noise of measurements. The performance of the proposed estimation algorithm is evaluated through an application to impedance control of a four degree-of-freedom manipulator.
목차
Abstract
1. INTRODUCTION
2. MATERIALS AND METHODS
3. APPLICATION TO IMPEDANCE CONTROL
4. CONCLUSIONS
REFERENCES
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