Comparison of Force Control Performance Based on Only Acceleration Sensor with KF/EKF

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2015/09/01

タイトル(英語): Comparison of Force Control Performance Based on Only Acceleration Sensor with KF/EKF

著者名: Nobuhiro Kobayashi (Toshiyuki Murakami Laboratory, System Design Engineering Department, Keio University), Toshiyuki Murakami (Toshiyuki Murakami Laboratory, System Design Engineering Department, Keio University)

著者名(英語): Nobuhiro Kobayashi (Toshiyuki Murakami Laboratory, System Design Engineering Department, Keio University), Toshiyuki Murakami (Toshiyuki Murakami Laboratory, System Design Engineering Department, Keio University)

キーワード: force control，redundant manipulator，acceleration sensor，kalman filter，work space observer

要約(英語): This paper proposes two types of force control systems based only on measurements of an acceleration sensor attached on the tip position of a three-link planar redundant manipulator. To estimate the acceleration with high accuracy, a Kalman filter (KF) based on a dynamic model of the manipulator and an extended Kalman filter (EKF) based on a kinematic model of the manipulator are introduced in each system. Further, a disturbance force observer (DFOB) and a reaction force observer (RFOB) are also implemented in the force control system, and the acceleration estimated by the KF/EKF is directly utilized in those observers. Simulations and experiments are conducted to examine the characteristics of the estimation performance and compare the force control performance of the two types of systems based on the KF and the EKF.

本誌: IEEJ Journal of Industry Applications Vol.4 No.5 （2015）

本誌掲載ページ: 559-567 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/4/5/4_559/_article/-char/ja/