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Journal of Intelligent and Robotic Systems 18
(1):1-16, January 1997. © Kluwer Academic Publishers
Force Sensing Using Kalman Filtering Techniques for Robot Compliant
Motion ControlShih-Tin Lin Department of Mechanical
Engineering, National Chung-Hsing University, Taichung, Taiwan,
R.O.C.
Abstract Robot motion can be classified into
free and contact motion. In practical tasks, however, the motion may
transit from free motion to contact motion and vice versa. In such tasks,
a position controller is designed in free motion. A compensator is then
added in the force feedback loop to help the system reach the desired
target impedance when the end-effector is in contact with the environment.
To obtain accurate contact force, a Kalman filter is used to extract
contact force from the wrist force sensor signal which contains inertial
force of the end-effector also.
Keywords force control,
impedance control, Kalman filter
ISSN 0921-0296
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