Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)
- 2000.10a
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- Pages.14-19
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- 2000
Contact force Estimation in 2-link Robot Manipulator Using Extended Kalman Filters
확장된 칼만필터를 이용한 2축 로봇 매니퓰레이터의 접촉힘 추정
Abstract
Recent requirements for the fast and accurate motion in industrial robot manipulator need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is usually installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of 2 DOF robots and environment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.
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