Name
Title | ||
|---|---|---|
Motor-Current-Based Estimation of Cartesian Contact Forces and Torques for Robotic Manipulators and Its Application to Force Control. |
Abstract | ||
|---|---|---|
We present a Kalman filter-based approach for estimating external forces and torques relying on a dynamic model of a serial-chain robotic manipulator where only motor signals (currents, joint angles, and joint speeds) are measurable. The method does not require any additional sensing compared to standard robot control systems. The approach exploits redundancy in 7DOF arms, but also applies to trad... |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/TASE.2017.2691136 | IEEE Transactions on Automation Science and Engineering |
Keywords | Field | DocType |
Estimation,Manipulator dynamics,Kalman filters,Robot sensing systems,Force | Robot control,Torque,Computer science,Control theory,Contact force,Kalman filter,Control engineering,Redundancy (engineering),Robot,Calibration,Cartesian coordinate system | Journal |
Volume | Issue | ISSN |
15 | 2 | 1545-5955 |
Citations | PageRank | References |
7 | 0.57 | 0 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Arne Wahrburg | 1 | 33 | 8.94 |
| Johannes Bös | 2 | 10 | 0.98 |
| Kim Listmann | 3 | 64 | 7.29 |
| Fan Dai | 4 | 7 | 1.25 |
| Björn Matthias | 5 | 13 | 1.47 |
| Hao Ding | 6 | 34 | 6.86 |