Generalized contact force estimator for a robot manipulator

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 4019-4024

  Gamez Garcia J ^a   Robertsson, A ^b   Gomez Ortega J ^a   Johansson, R ^b  

^a UNIVERSITY OF JAÉN   (Spain)

^b LUND UNIVERSITY   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; MATHEMATICAL MODELS; MICROMANIPULATORS; ROBOTICS; SENSOR DATA FUSION;

CONTACT FORCES; END-EFFECTORS; FORCE SENSING;

FORCE MEASUREMENT;

EID: 33845623430     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642319     Document Type: Conference Paper

References (12)

1. O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation," IEEE J. of Robotics and Automation, vol. 3(1), pp. 43-53, 1987.
2. M. Uchiyama and K. Kitagaki, "Dynamic force sensing for high speed robot manipulation using Kalman filtering techniques," in Proc. of Conf. Decision and Control, vol. 12(6), Tampa, Florida, 1989, pp. 2147-2152.
3. M. Fujita and H. Inoue, "A study on the processing of force sensor signals," in Proc. 1st Annual Conf. of the Robotics Society of Japan, Tokyo, 1979, pp. 151-152.
4. M. Uchiyama, M. Yokota, and K. Hakomori, "Kalman filtering the 6-axis robot wrist force sensor signal," in Proc. Int. Conf. Advanced Robotics, Tokyo, 1985, pp. 153-160.
5. S. Lin, "Force sensing using Kalman filtering techniques for robot compliant motion control," J. of Intelligent and Robotics Systems, vol. 135, pp. 1-16, 1997.
6. J. Gamez, A. Robertsson, J. Gomez, and R. Johansson, "Sensor fusion of force and acceleration for robot force control," in Int. Conf. Intelligent Robots and Systems (IROS 2004), Sendai, Japan, 2004, pp. 3009-3014.
7. J. Gamez, A. Robertsson, J. Gomez-Ortega, and R. Johansson, "Force and acceleration sensor fusion for compliant robot motion control," in IEEE Int. Conf. on Robotics and Automation (ICRA2005), Barcelona, Spain, 2005, pp. 2720-2725.
8. R. E. Kalman, "A new approach to linear filtering and prediction problems," Trans. ASME- J. of Basic Engineering, vol. 82, pp. 35-45, 1960.
9. R. Johansson, System Modeling and Identification. NJ: Prentice Hall, Englewood Cliffs, 1993.
10. L. Ljung, System Identification Toolbox; User's Guide. Natick, MA: The MathWorks Inc., 1991.
11. N. Hogan, "Impedance control: An approach to manipulation, parts 1-3," J. of Dynamic Systems, Measurement and Control. ASME, vol. 107, pp. 1-24, 1985.
12. R. Johansson and A. Robertsson, "Robotic force control using observer-based strict positive real impedance control," in IEEE Proc. Int. Conf. Robotics and Automation, Taipei, Taiwan, September 2003, pp. 3686-3691.