유연관절로봇을 위한 정확한 외부토크 측정시스템 개발: 랜덤워크모델을 이용한 칼만필터 기반 추정
Exact External Torque Sensing System for Flexible- Joint Robot: Kalman Filter Estimation with Random- Walk Model
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In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the jointtorquesensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamicsof a flexible-joint robot, a model-based estimation, rather than a simple linear spring model,should be required to extract external torques accurately. In this paper, an external torque estimation algorithmfor a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motortorque from the motor dynamics and an external link torque from the link dynamics simultaneously byutilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through acustom-designed experimental testbed for a vertical situation under gravity.
Abstract
In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the jointtorquesensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamicsof a flexible-joint robot, a model-based estimation, rather than a simple linear spring model,should be required to extract external torques accurately. In this paper, an external torque estimation algorithmfor a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motortorque from the motor dynamics and an external link torque from the link dynamics simultaneously byutilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through acustom-designed experimental testbed for a vertical situation under gravity.
참고문헌 (17)
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