Title :
A method of estimating robot end-effector force based on H∞ filting
Author :
Ding Yi ; Xu JianMing
Author_Institution :
Coll. of lnformation Eng., Zhejiang Univ. of Technol., Hangzhou, China
Abstract :
This paper discusses the issue of estimating external force exerted on the end-effector of manipulators by using the information from joint torque which can be obtained by measuring the motor current. The manipulator dynamics model without obviously involving acceleration is firstly established by low pass filting. A method of estimating external force being as state variables is then proposed with H∞ filting. The performance of the proposed algorithm is evaluated through a simulation of a two degree-of-freedom manipulator in MATLAB/SIMULINK.
Keywords :
end effectors; force control; low-pass filters; manipulator dynamics; H∞ filter; Matlab; Simulink; force estimation; joint torque; low pass filter; manipulator dynamics model; motor current; robot end-effector force; state variables; External force estimation; H∞ filting; Manipulator;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896323
