External torque-sensing algorithm for flexible-joint robot based on Kalman filter
SCIE
SCOPUS
- Title
- External torque-sensing algorithm for flexible-joint robot based on Kalman filter
- Authors
- Young Jin Park; Chung, WK
- Date Issued
- 2013-07-04
- Publisher
- INST ENGINEERING TECHNOLOGY-IET
- Abstract
- The external torque estimation problem in a 1-degree-of-freedom flexible-joint robot system with a joint torque sensor is revisited. The flexible-joint robot has two dynamics, motor-side and link-side dynamics, making the problem more complicated. An external torque-sensing algorithm for the flexible-joint robot is proposed, which treats these two dynamics simultaneously for extracting external torques applied to the system. The basic structure of the proposed algorithm is illustrated, and the performance is verified by a custom-designed experimental apparatus for vertical configuration with a gravitational load.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/15159
- DOI
- 10.1049/EL.2013.1297
- ISSN
- 0013-5194
- Article Type
- Article
- Citation
- ELECTRONICS LETTERS, vol. 49, no. 14, page. 877 - 877-878, 2013-07-04
- Files in This Item:
- There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.