Robotic Force Estimation Using Motor Torques and Modeling of Low Velocity Friction Disturbances
Author
Editor
- Nancy Amato
Summary, in English
This paper presents a method for force estimation that accounts for the velocity dependent uncertainty of the Coulomb friction and combines data from several joints to produce accurate estimates. The estimate is calculated by solving a convex optimization problem in real time. The proposed method is experimentally evaluated on a force-controlled dual-arm assembly operation and validated with data from a force sensor. The estimates are shown to improve with the number of joints used, and the method can even exploit data from an arm that is controlled not to move.
Department/s
Publishing year
2013
Language
English
Pages
3550-3556
Publication/Series
Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-7, 2013. Tokyo, Japan
Full text
Document type
Conference paper
Publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
Topic
- Control Engineering
Keywords
- Force estimation
- robotics
- friction modeling.
Conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Conference date
2013-11-03 - 2013-11-08
Conference place
Tokyo, Japan
Status
Published
Project
- RobotLab LTH
- ROSETTA
Research group
- LCCC
ISBN/ISSN/Other
- ISSN: 2153-0866
- ISSN: 2153-0858