Sensor Fusion of Acceleration and Position for Improved External Force Estimation of Flexible Robot System

カテゴリ: 研究会(論文単位)

論文No: IIC14030

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2014/03/10

タイトル(英語): Sensor Fusion of Acceleration and Position for Improved External Force Estimation of Flexible Robot System

著者名: ミッサンティスク チヤワリット(カセサート大学,タイ),大石 潔(長岡技術科学大学)

著者名(英語): Mitsantisuk Chowarit(Kasetsart University,Thailand),Ohishi Kiyoshi(Nagaoka University of Technology)

キーワード: 二慣性共振系システム|外乱オブザーバ|共振比制御|モーションコントロール|カルマンフィルタ|Two-mass System|Disturbance Observer|Resonance Ratio Control|Motion Control|Kalman-Filter

要約(日本語): Force estimation is one of the most important techniques in the robot control application. In this research, acceleration sensor based load-side disturbance observer (ALDOB) is proposed and developed by integrating an acceleration sensor on the load side and the optical encoder on the motor side in order to estimate external force. The enhancement of the force estimation was found to increase. Good estimation of force and robust force control could be obtained using ALDOB observer. The simulation results are provided to illustrate the performance of the proposed algorithms. A flexible robot model was established to simulate the robot dynamic in force control, and the results agree with the analysis.

要約(英語): Force estimation is one of the most important techniques in the robot control application. In this research, acceleration sensor based load-side disturbance observer (ALDOB) is proposed and developed by integrating an acceleration sensor on the load side and the optical encoder on the motor side in order to estimate external force. The enhancement of the force estimation was found to increase. Good estimation of force and robust force control could be obtained using ALDOB observer. The simulation results are provided to illustrate the performance of the proposed algorithms. A flexible robot model was established to simulate the robot dynamic in force control, and the results agree with the analysis.

原稿種別: 日本語

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