Abstract
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.
Original language | English |
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Pages (from-to) | 1772-1796 |
Number of pages | 25 |
Journal | International Journal of Robust and Nonlinear Control |
Volume | 24 |
Issue number | 12 |
DOIs | |
Publication status | Published - 2014 |