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Sensorless and modeless estimation of external force using time delay estimation: application to impedance control

Title
Sensorless and modeless estimation of external force using time delay estimation: application to impedance control
Authors
Jeong, JW[Jeong, Jae Won]Chang, PH[Chang, Pyung Hun]Park, KB[Park, Kyung Bin]
DGIST Authors
Chang, PH[Chang, Pyung Hun]
Issue Date
2011-08
Citation
Journal of Mechanical Science and Technology, 25(8), 2051-2059
Type
Article
Article Type
Article
Keywords
AlgorithmsBioelectric PhenomenaCost ReductionDelay Control SystemsDirect SensingDynamical DecouplingDynamical ModelEstimationEstimation AlgorithmExternal ForceExternal Force EstimationImpedance ControlModeling ErrorsRobot DynamicsRobotsSensorlessSensorsTime-Delay Estimation (TDE)Time DelayTime Delay Estimation (TDE)
ISSN
1738-494X
Abstract
This paper proposes an external force estimation algorithm that requires neither dynamical models nor force-torque (F/T) sensors. Considering cost reduction, 'indirect estimation' of external force can be preferable to 'direct sensing' of the force. However, the explicit use of robot dynamical models, required by most previous studies on 'indirect estimation' of external force, can be practically unfavorable due to inevitable modeling errors as well as arduous identification of system parameters. As a remedy for this problem, the Time-Delay Estimation (TDE) scheme has been incorporated in this research. TDE efficiently provides an accurate estimate of nonlinear robot dynamics including external force. Using TDE, the external force has been effectively and efficiently estimated without F/T sensors or robot dynamical models. Through application to impedance control of a robot, the practical advantages of the proposed estimation algorithm are demonstrated. © 2011 The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg.
URI
http://hdl.handle.net/20.500.11750/3442
DOI
10.1007/s12206-011-0624-4
Publisher
Korean Society of Mechanical Engineers
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringRehabilitation Robotics Lab1. Journal Articles


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