Robust disturbance estimation for human-robotic comanipulation
| Autor: | Henk Nijmeijer, Stefan Lichiardopol, van de N Nathan Wouw |
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| Rok vydání: | 2013 |
| Předmět: |
Engineering
Disturbance (geology) Forcing (recursion theory) business.industry Mechanical Engineering General Chemical Engineering Biomedical Engineering Robot manipulator Aerospace Engineering Estimator Robotics Control engineering Industrial and Manufacturing Engineering Force sensor Control and Systems Engineering Control theory Robot Artificial intelligence Electrical and Electronic Engineering business |
| Zdroj: | International Journal of Robust and Nonlinear Control. 24:1772-1796 |
| ISSN: | 1049-8923 |
| DOI: | 10.1002/rnc.2963 |
| Popis: | SUMMARY External forces affect the dynamics of load-carrying robot devices. The knowledge of such disturbances is generally needed for control purposes. However, direct disturbance measurement using force sensors is not always possible. This paper introduces a force estimator for force-sensor-less robotic manipulators. The algorithm is based on the knowledge of the dynamics of the robotic device, whereas mass of the load is typically unknown. Using this algorithm, low-frequency external forces can be estimated robustly even for quasi-statically time-varying and uncertain loads. Experiments validate the proposed strategy in practice. Moreover, the applicability of the estimation algorithm is further illustrated by using it in a human–robot comanipulation setup in which the robot is providing additional coordinated forcing to alleviate human effort needed to manipulate the robot. Copyright © 2013 John Wiley & Sons, Ltd. Received 4 October 2011; Revised 19 December 2012; Accepted 22 December 2012 |
| Databáze: | OpenAIRE |
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