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- Title
Robust disturbance estimation for human-robotic comanipulation.
- Authors
Lichiardopol, S.; Wouw, N.; Nijmeijer, H.
- Abstract
SUMMARY External forces affect the dynamics of load-carrying robot devices. The knowledge of such disturbances is generally needed for control purposes. However, direct disturbance measurement using force sensors is not always possible. This paper introduces a force estimator for force-sensor-less robotic manipulators. The algorithm is based on the knowledge of the dynamics of the robotic device, whereas mass of the load is typically unknown. Using this algorithm, low-frequency external forces can be estimated robustly even for quasi-statically time-varying and uncertain loads. Experiments validate the proposed strategy in practice. Moreover, the applicability of the estimation algorithm is further illustrated by using it in a human-robot comanipulation setup in which the robot is providing additional coordinated forcing to alleviate human effort needed to manipulate the robot. Copyright © 2013 John Wiley & Sons, Ltd.
- Subjects
KINETIC art; ANALYTICAL mechanics; DYNAMICS; METROLOGY; WORK measurement
- Publication
International Journal of Robust & Nonlinear Control, 2014, Vol 24, Issue 12, p1772
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.2963