Name
Title | ||
|---|---|---|
Development of Kalman Filter based two-port Body Force Observer for the flexible joint: Design and experiments |
Abstract | ||
|---|---|---|
One of the main reasons for using a joint torque sensor in a robot is to measure body forces acting on the system. Especially, the motor actuating torque and the external link torque are important for a flexible joint control. However, it is difficult to measure or estimate those two torques simultaneously with a single joint torque sensor only due to the lack of information. In this paper, Kalman Filter based two-port Body Force OBserver(KF 2-port BFOB) was proposed to estimate two output torques from the motor-side port and the link-side port simultaneously using the two-port system dynamics, the joint angle and the sensor torque from the joint torque sensor based on the Kalman filter. The basic idea of KF 2-port BFOB is illustrated and its performance is verified by implementing the algorithm with disturbance observer(DOB) in the motor actuated one-DOF flexible joint robot. The experiments are executed in the planar situation (under the gravity-free condition) and in the vertical situation(under the gravity condition) respectively to verify the performance of KF 2-port BFOB. The results show something with conclusion. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ICRA.2012.6225384 | ICRA |
Keywords | Field | DocType |
observers,link-side port,kalman filters,joint torque sensor,external link torque,joint angle,motor-side port,two-port system dynamics,motor actuated one-dof flexible joint robot,kf 2-port bfob,flexible joint control,manipulators,motor actuating torque,sensors,kalman filter based two-port body force observer,kalman filter,system dynamics,friction,force,torque | Body force,Torque,Torque sensor,Control theory,Kalman filter,Control engineering,Planar,System dynamics,Engineering,Observer (quantum physics),Robot | Conference |
ISSN | ISBN | Citations |
1050-4729 E-ISBN : 978-1-4673-1404-6 | 978-1-4673-1404-6 | 0 |
PageRank | References | Authors |
0.34 | 6 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Young Jin Park | 1 | 23 | 9.10 |
| Hosun Lee | 2 | 10 | 4.66 |
| Yong-Hwan Oh | 3 | 175 | 31.08 |
| Wan Kyun Chung | 4 | 855 | 127.85 |