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Contact Force Estimation for Robot Manipulator Using Semiparametric Model and Disturbance Kalman Filter
- Source :
- IEEE Transactions on Industrial Electronics. 65:3365-3375
- Publication Year :
- 2018
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2018.
-
Abstract
- Force estimation methods enable robots to interact with the environment or humans compliantly and safely without additional sensing device. In this paper, we present a novel method for estimating unknown contact forces exerted on a robot manipulator. The force estimation method is divided into two steps. The first step is to identify a robot dynamics model. A parametric model is derived first based on rigid-body dynamic (RBD) theory. To improve the model accuracy, a nonparametric compensator trained with multilayer perception (MLP) is added to compensate for errors of the RBD model. The result is a semiparametric model that provides better model accuracy than either the RBD model or the MLP model alone. The second step is to construct a force estimation observer. A novel estimation method called disturbance Kalman filter (DKF) is developed in this paper. The design of DKF based on a time-invariant composite system model is presented. DKF can take both manipulator's dynamics model and disturbance's dynamics model into account. As with Kalman filter, it can provide robust and accurate estimation against uncertainty. Simulation and experimental results, obtained using a six-degrees-of-freedom Kinova Jaco2 manipulator, demonstrate the effectiveness of the proposed method.
- Subjects :
- 0209 industrial biotechnology
Engineering
Observer (quantum physics)
business.industry
020208 electrical & electronic engineering
Control engineering
02 engineering and technology
Kalman filter
Semiparametric model
System model
Contact force
Extended Kalman filter
020901 industrial engineering & automation
Control and Systems Engineering
Control theory
Parametric model
0202 electrical engineering, electronic engineering, information engineering
Electrical and Electronic Engineering
business
Alpha beta filter
Subjects
Details
- ISSN :
- 15579948 and 02780046
- Volume :
- 65
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Industrial Electronics
- Accession number :
- edsair.doi...........0de9b30366991ba3b6ca40a059396381