Name
Title | ||
|---|---|---|
Multi-model observer for position estimation and object contact detection of a flexible robotic actuator. |
Abstract | ||
|---|---|---|
This paper proposes a multi-model based approach that estimates joint position and collision detection of a lightweight electric actuator dedicated to manipulation tasks. Taking advantage of an optimized back-drivable mechatronic design, the use of proprioceptive measures at the motor level enables the estimation of the unmeasured terminal position of the mechanical motor-to-joint transmission and force contact disturbance. An accurate model of the actuated mechanical flexible transmission is theoretically introduced to precisely describe its non-linear dynamic behavior, and is reformulated into a polytopic form. Then, a multi-model observer-based estimator is synthesized for object contact detection strategy and joint position estimation without additional position/force sensor. A root-clustering synthesis is performed through Linear Matrix Inequalities (LMIs) and is experimentally validated with a single degree-of-freedom manipulator. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/CCA.2012.6402383 | CCA |
Keywords | Field | DocType |
collision avoidance,control system synthesis,electric actuators,flexible manipulators,force control,linear matrix inequalities,manipulator kinematics,mechatronics,observers,pattern clustering,position control,stability,LMI,actuated mechanical flexible transmission,collision detection,flexible robotic actuator,force contact disturbance,force sensor,joint position estimation,lightweight electric actuator,linear matrix inequalities,manipulation task,mechanical motor-to-joint transmission,motor level proprioceptive measure,multimodel observer-based estimator,nonlinear dynamic behavior,object contact detection strategy,optimized back-drivable mechatronic design,polytopic form,position sensor,root-clustering synthesis,single degree-of-freedom manipulator,terminal position estimation | Force sensor,Collision detection,Valve actuator,Control theory,Matrix (mathematics),Computer science,Control engineering,Observer (quantum physics),Mechatronics,Estimator,Actuator | Conference |
ISSN | Citations | PageRank |
1085-1992 | 0 | 0.34 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Benoit Huard | 1 | 6 | 1.54 |
| Mathieu Grossard | 2 | 31 | 6.68 |
| Sandrine Moreau | 3 | 4 | 1.17 |
| Thierry Poinot | 4 | 95 | 16.74 |