Corpus ID: 14446952

Sensorless Force Estimation for Robots with Friction

@inproceedings{Simpson2002SensorlessFE,
  title={Sensorless Force Estimation for Robots with Friction},
  author={J. Simpson and C. Cook and Z. Li},
  year={2002}
}
This paper describes a method for estimating forces applied at the end effector of a robot without the need for force sensors. Servo motor currents and positions are used together with an accurate system model to estimate applied forces. The system model includes inertia, friction and position dependent force components. The signal processing techniques required to extract the force information from the servo motor data are detailed and experimental results from a SCARA robot presented. 
20 Citations

Figures from this paper

Robotic force estimation using motor torques and modeling of low velocity friction disturbances
  • 43
  • PDF
Force estimation using piezoelectric actuator with adaptive control
  • 7
Force Estimation Based Compliance Control of Harmonically Driven Manipulators
  • L. Aksman, C. Carignan, D. Akin
  • Engineering, Computer Science
  • Proceedings 2007 IEEE International Conference on Robotics and Automation
  • 2007
  • 21
  • PDF
External Force Estimation Method for Robotic Manipulator Based on Double Encoders of Joints
  • 2
Sensor-less force esitimation based man-machine interaction optimization
On Robotic Assembly using Contact Force Control and Estimation
  • 16
  • PDF
...
1
2
...

References

SHOWING 1-10 OF 15 REFERENCES
Joint torque control by a direct feedback for industrial robots
  • J. S. Luh, W. Fisher, R. C. Paul
  • Engineering
  • 1981 20th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes
  • 1981
  • 208
Sensorless force control using H/spl infin/ acceleration controller
  • K. Ohishi
  • Physics
  • Proceedings 1993 Asia-Pacific Workshop on Advances in Motion Control
  • 1993
  • 11
Implicit force control for industrial robots in contact with stiff surfaces
  • 35
Design of force controller based on frequency characteristics
  • 4
Intelligent torque sensing and robust torque control of harmonic drive under free-motion
  • H. Taghirad, P. Bélanger
  • Engineering, Computer Science
  • Proceedings of International Conference on Robotics and Automation
  • 1997
  • 25
Intelligent built-in torque sensor for harmonic drive systems
  • 25
  • PDF
Intelligent built-in torque sensor for harmonic drive systems
  • 23
Fundamentals of robotics - analysis and control
  • 405
  • PDF
Modeling of friction using spectral analysis
  • 28
Control of machines with friction
  • B. Armstrong-Hélouvry
  • Engineering, Computer Science
  • The Kluwer international series in engineering and computer science
  • 1991
  • 729
  • PDF
...
1
2
...