Robotic Force Estimation Using Motor Torques and Modeling of Low Velocity Friction Disturbances
Författare
Redaktör
- Nancy Amato
Summary, in English
This paper presents a method for force estimation that accounts for the velocity dependent uncertainty of the Coulomb friction and combines data from several joints to produce accurate estimates. The estimate is calculated by solving a convex optimization problem in real time. The proposed method is experimentally evaluated on a force-controlled dual-arm assembly operation and validated with data from a force sensor. The estimates are shown to improve with the number of joints used, and the method can even exploit data from an arm that is controlled not to move.
Avdelning/ar
Publiceringsår
2013
Språk
Engelska
Sidor
3550-3556
Publikation/Tidskrift/Serie
Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-7, 2013. Tokyo, Japan
Fulltext
Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Control Engineering
Nyckelord
- Force estimation
- robotics
- friction modeling.
Conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Conference date
2013-11-03 - 2013-11-08
Conference place
Tokyo, Japan
Status
Published
Projekt
- RobotLab LTH
- ROSETTA
Forskningsgrupp
- LCCC
ISBN/ISSN/Övrigt
- ISSN: 2153-0866
- ISSN: 2153-0858