Comparison of Force Control Performance Based on Only Acceleration Sensor with KF/EKF

被引：5

作者：

Kobayashi, Nobuhiro ^{[1
]}

Murakami, Toshiyuki ^{[1
]}

机构：

[1] Keio Univ, Dept Syst Design Engn, Toshiyuki Murakami Lab, Kohoku Ku, 3-14-1 Hiyoshi, Yokohama, Kanagawa 2238522, Japan

来源：

IEEJ JOURNAL OF INDUSTRY APPLICATIONS | 2015年 / 4卷 / 05期

关键词：

force control; redundant manipulator; acceleration sensor; kalman filter; work space observer;

D O I：

10.1541/ieejjia.4.559

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper proposes two types of force control systems based only on measurements of an acceleration sensor attached on the tip position of a three-link planar redundant manipulator. To estimate the acceleration with high accuracy, a Kalman filter (KF) based on a dynamic model of the manipulator and an extended Kalman filter (EKF) based on a kinematic model of the manipulator are introduced in each system. Further, a disturbance force observer (DFOB) and a reaction force observer (RFOB) are also implemented in the force control system, and the acceleration estimated by the KF/EKF is directly utilized in those observers. Simulations and experiments are conducted to examine the characteristics of the estimation performance and compare the force control performance of the two types of systems based on the KF and the EKF.

引用

页码：559 / 567

页数：9

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