A two-staged residual for resilient external torque estimation with series elastic actuators
A two-staged residual for resilient external torque estimation with series elastic actuators
复制标题
串联弹性执行器弹性外部扭矩估计的两级残差
DOI：
10.1109/humanoids.2017.8246966
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Sehoon Oh
中科院分区：
文献类型：
--
作者：
Chan Lee;Jinoh Lee;J. Malzahn;N. Tsagarakis;Sehoon Oh
由串联弹性致动器（SEA）驱动的协作机器人利用物理顺应性，使关节扭矩传感能够根据剩余动量准确估计外部接触扭矩。柔性元件的挠度测量精度决定了扭矩精度。它受到支撑间隙、装配公差、刚度校准误差以及未建模的非线性的影响。此外，刚度值放大了挠度误差，导致扭矩估计误差更大，这限制了集成关节扭矩传感在高刚度SEAs下增强外部扭矩估计的优势。据此，本文提出了一种基于残差的两阶段SEA驱动机器人外部转矩估计方法。该方法通过电机侧动力学增加了残差计算，同时使用电机和连杆侧角测量，但完全放弃了对弹簧动力学建模进行外部转矩估计的需要。因此，这提高了精度和灵敏度在广泛的刚度应用。通过WALK-MAN仿人机器人SEA的实验验证了两级残差的性能。
Collaborative robots driven by Series Elastic Actuators (SEA) exploit physical compliance, which enables joint torque sensing to accurately estimate external contact torques based on residual momenta. The deflection measurement precision for the compliant element determines the torque accuracy. It is affected by support clearances, assembly tolerances, stiffness calibration errors as well as unmodelled non-linearity. Moreover, the stiffness value amplifies deflection errors leading to larger torque estimation errors, which limits the benefits of integrated joint torque sensing for enhanced external torque estimation with higher stiffness SEAs. Accordingly, this paper newly proposes a two-staged approach of the residual based external torque estimation for SEA driven robots. The proposed method augments the residual calculation by the motor-side dynamics, uses both, motor and link side angular measurements, but entirely waives the need to model the spring dynamics for the external torque estimation. Consequently, this improves accuracy and sensitivity in wide-ranging stiffness applications. The performance of the two-staged residual is verified by experiments with the SEA of the WALK-MAN humanoid robot.
影响因子：
8.3
作者：
Radford, Nicolaus A.;Strawser, Philip;Akinyode, Jide
通讯作者：
Akinyode, Jide