DocumentCode :
3173677
Title :
Force-based stiffness estimation for robotic tasks
Author :
Coutinho, Fabio ; Cortesao, Rui
Author_Institution :
Inst. of Syst. & Robot, Polytech. Inst. of Coimbra, Coimbra, Portugal
fYear :
2012
fDate :
10-13 Dec. 2012
Firstpage :
2164
Lastpage :
2170
Abstract :
The performance of direct force control approaches for robotic tasks depends on the accuracy of environment model parameters. A mismatch between real and nominal environment parameters degrades the system response, being a critical problem for precise contact tasks. Adaptive control can tackle this problem based on online contact parameters estimation. In this paper, we develop an algorithm for online stiffness estimation relying on force data, only. No position information is necessary. Our algorithm - the Candidate OBserver Algorithm (COBA) - uses two observers with different candidate stiffnesses to infer the correct system stiffness. Theoretical analysis and experimental results are presented.
Keywords :
adaptive control; elasticity; force control; mechanical contact; observers; parameter estimation; robots; COBA; adaptive control; candidate observer algorithm; candidate stiffness; contact task; direct force control; environment model parameter; force data; force-based stiffness estimation; nominal environment parameter; online contact parameters estimation; online stiffness estimation; real environment parameter; robotic task; system response; system stiffness; Algorithm design and analysis; Force; Observers; Robot kinematics; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
ISSN :
0743-1546
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
Type :
conf
DOI :
10.1109/CDC.2012.6426529
Filename :
6426529
Link To Document :
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