Carregant...
Carregant...

Vés al contingut (premeu Retorn)

External force estimation during compliant robot manipulation

Autor
Colomé, A.; Pardo, D.E.; Alenyà, G.; Torras, C.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2013 IEEE International Conference on Robotics and Automation (ICRA)
Any de l'edició
2013
Data de presentació
2013
Llibre d'actes
The proceedings of the 2013 IEEE International Conference on Robotics and Automation
Pàgina inicial
3535
Pàgina final
3540
DOI
https://doi.org/10.1109/ICRA.2013.6631072 Obrir en finestra nova
Projecte finançador
IntellAct: Intelligent observation and execution of Actions and manipulations
Repositori
http://hdl.handle.net/2117/23459 Obrir en finestra nova
URL
http://dx.doi.org/10.1109/ICRA.2013.6631072 Obrir en finestra nova
Resum
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.
Citació
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.
Paraules clau
computed torque control, disturbance observer, manipulators robot dynamics Author keywords: external force estimation
Grup de recerca
GREC - Grup de Recerca en Enginyeria del Coneixement
ROBiri - Grup de Robòtica de l'IRI

Participants