Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Contact Force Estimation in 2-link Robot Manipulator Using Extended Kalman Filters

확장된 칼만필터를 이용한 2축 로봇 매니퓰레이터의 접촉힘 추정

  • Published : 2001.08.01
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Abstract

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control tech-niques. To satisfy the requirements, importance of force control is being continuously increased and the expensive force sensor is usually 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 estimated the contact force occurring between the end-effector of 2 DOF robots and environ-ment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipula-tors. 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.

Keywords

References

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