Paper Info
Title
Proposal of State-Dependent Minimum Variance Estimation of Load-Side External Torque Considering Modeling and Measurement Errors.
Abstract
Sensorless external force/torque estimation is required for force/torque control in cooperative robots and human-support robots. Since the sensorless estimation suffers from modeling errors, we have proposed a novel load -side external torque observer, which has a gain determining the balance of the modeling error effects between the motor side and the transmission part in our previous study. This paper proposes a systematic design method of the gain determining the robustness based on the priori knowledge of the reliability of the plant parameters and the sensor measurements. The advantages of the proposed design method are validated by the simulations and experiments.
Year
Venue
Field
2018
ISIE
Minimum variance estimation,Transmission (mechanics),State dependent,Torque,Control theory,Torque observer,Robustness (computer science),Control engineering,Engineering,Robot,Observational error
DocType
Citations 
PageRank 
Conference
1
0.37
References 
Authors
0
2
Name
Order
Citations
PageRank
Shota Yamada19418.10
Hiroshi Fujimoto211.05