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External force estimation during compliant robot manipulation

Author
Colomé, A.; Pardo, D.E.; Alenyà, G.; Torras, C.
Type of activity
Presentation of work at congresses
Name of edition
2013 IEEE International Conference on Robotics and Automation (ICRA)
Date of publication
2013
Presentation's date
2013
Book of congress proceedings
The proceedings of the 2013 IEEE International Conference on Robotics and Automation
First page
3535
Last page
3540
DOI
https://doi.org/10.1109/ICRA.2013.6631072 Open in new window
Project funding
IntellAct: Intelligent observation and execution of Actions and manipulations
Repository
http://hdl.handle.net/2117/23459 Open in new window
URL
http://dx.doi.org/10.1109/ICRA.2013.6631072 Open in new window
Abstract
This paper presents a method to estimate external forces exerted on a manipulator, avoiding the use of a sensor. The method is based on task-oriented dynamics model learning and a robust disturbance state observer. The combination of both leads to an efficient torque observer that can be incorporated to any control scheme. The use of a learned based approach avoids the need of analytical models of friction or Coriolis dynamics effects.
Citation
Colomé, A. [et al.]. External force estimation during compliant robot manipulation. A: IEEE International Conference on Robotics and Automation. "The proceedings of the 2013 IEEE International Conference on Robotics and Automation". Karlsruhe: 2013, p. 3535-3540.
Keywords
computed torque control, disturbance observer, manipulators robot dynamics Author keywords: external force estimation
Group of research
GREC - Knowledge Engineering Research Group
ROBiri - IRI Robotics Group

Participants