@inproceedings{58207d934aa74a5fb5422798641ad6c8,
title = "Multi-point interaction force estimation for robot manipulators with flexible joints using joint torque sensors",
abstract = "In this paper, multi-point interaction forces of the robot manipulators with flexible-joints are separated and estimated by using the backward method and link-side generalized momentum observer method. Similar to the Newton-Euler method, the backward method is utilized to separate and compute the contact forces exerted on the links. To avoid the use of the acceleration signals, the generalized momentum observer is employed to estimate the external forces. For robot manipulators with flexible-joints, the joint torque data rather than the motor command torque data are used to obtain accurate estimation results. Experimental results show that the multi-point contact forces are accurately separated and estimated using the presented method.",
keywords = "Backward method, Force estimation, Link-side generalized momentum observer, Multi-point physical interaction",
author = "Xing Liu and Fei Zhao and Baolin Liu and Xuesong Mei",
note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",
year = "2019",
doi = "10.1007/978-3-030-27535-8\_45",
language = "英语",
isbn = "9783030275341",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "499--508",
editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",
booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",
}