- Kalman Filter based Two-port Body Force Observer
- A flexible joint robot has been researched thoroughly for a variety of purposes
- High performance motion control, stable contract response, safety, etc
- One of the main reasons for using a joint torque sensor in a robot is to measure body forces acting on the system.
- Especially, the motor actuating torque and the external link torque are important for a flexible joint control.
- However, it is difficult to measure or estimate those two torques simultaneously with a single joint torque sensor only due to the lack of information.
- Kalman Filter based two-port Body Force OBserver(KF 2-port BFOB) was proposed to estimate two output torques from the motor-side port and the linksideport simultaneously using the two-port system dynamics
- The experiment was executed in the vertical situation
- Simulation scenario
- constant torque is applied
- Link is moved by hand
- In ideal case, link-side port torque will estimate the gravitational torque applied to the link correctly
- From result,
link-side port torque is almost same as the external torque