로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제9권1호
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  • Pages.11-19
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  • 2014
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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유연관절로봇을 위한 정확한 외부토크 측정시스템 개발: 랜덤워크모델을 이용한 칼만필터 기반 추정

Exact External Torque Sensing System for Flexible-Joint Robot: Kalman Filter Estimation with Random-Walk Model

  • 투고 : 2013.10.07
  • 심사 : 2013.12.04
  • 발행 : 2014.02.28
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초록

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

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참고문헌

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피인용 문헌

  1. 수정된 RLS 기반으로 관절 토크 센서를 이용한 로봇에 가해진 외부 힘 예측 및 펙인홀 작업 구현 vol.13, pp.1, 2014, https://doi.org/10.7746/jkros.2018.13.1.055
  2. 구호로봇을 위한 응급처치용 가젯 시제품의 기능 테스트 방안 vol.13, pp.3, 2018, https://doi.org/10.7746/jkros.2018.13.3.164