Force estimation based compliance control of harmonically driven manipulators

被引：18
作者：
Aksman, Leon M. [1 ]
Carignan, Craig R. [2 ]
Akin, David L. [1 ]
机构：
[1] Univ Maryland, Dept Aerosp Engn, Space Syst Lab, College Pk, MD 20742 USA
[2] Georgetown Univ, Imaging Sci & Informat Sys, Dept Radiol, Washington, DC 20057 USA
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.364126
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of estimating external forces exerted on a robotic manipulator with harmonic drive gearing without a force-torque sensor is considered. Manipulator dynamics together with motor current feedback is used to estimate external joint torques, which are transformed into estimated external end effector forces using knowledge of the manipulator's kinematics. Adaptive control is used to tune the parameters of the robot's modeled dynamics, while adaptive radial basis function (RBF) 'neural' networks are used to learn the friction model. Compliance control is implemented on a two degree of freedom manipulator based on the force estimates. Results are compared to compliance control using a six-axis force-torque sensor mounted on the manipulator.
引用
收藏
页码：4208 / +
页数：3
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