Contact Force Estimation of Robot Manipulators in 3-D Space

3차원 공간상에서 로봇 매니퓰레이터의 접촉힘 추정

  • 이중욱 (한양대학교 대학원 정밀기계공학과) ;
  • 허건수 (한양대학교 기계공학부)
  • Published : 2001.02.01


Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is often installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of robots and environment in 3-D. The contact force monitoring system is developed based on the static and dynamic models of 3 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.


3-Link Robot Manipulator;Contact Force;Extended Kalman Filter;Force Estimation


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