Van Damme, Michaël (Vrije Universiteit Brussel), Beyl, Pieter (Vrije Universiteit Brussel), Vanderborght, Bram (Vrije Universiteit Brussel), Grosu, Victor (Vrije Universiteit Brussel - VUB - Belgium), Van Ham, Ronald (Vrije Universiteit Brussel), Vanderniepen, Innes (Vrije Universiteit Brussel), Matthys, Arnout (Vrije Universiteit Brussel), Lefeber, Dirk (Vrije Universiteit Brussel)

Estimating Robot End-Effector Force from Noisy Actuator Torque Measurements

Scheduled for presentation during the Regular Sessions "Force and Tactile Sensing" (TuA212), Tuesday, May 10, 2011, 10:35−10:50, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Abstract

This paper discusses two ways to estimate the interaction force at the end-effector of a robot. The first approach that is presented combines filtered dynamic equations with a recursive least squares estimation algorithm to provide a smoothened force signal, which is useful in the (common) case of noisy torque measurements. The second approach, which uses a generalized momentum based disturbance observer, is mainly discussed to compare it to the first approach. Although very different in appearance, it is shown that a close connection exists between both approaches. Simulation results for both algorithms are shown, and experimental results derived from a sensorless admittance controller that was implemented using the algorithms are presented.