Collision Detection and Control of Single-link Flexible Arm Using Optimal Disturbance Decoupling and Kalman Filters
Collision Detection and Control of Single-link Flexible Arm Using Optimal Disturbance Decoupling and Kalman Filters
复制标题
使用最优干扰解耦和卡尔曼滤波器的单连杆柔性臂碰撞检测和控制
DOI：
10.5687/iscie.25.336
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
A. Tanikawa
中科院分区：
文献类型：
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作者：
Y. Sawada;A. Moritani;T. Fujimoto;A. Tanikawa
本文描述了一种基于耦合状态估计器的单连杆柔性机械臂碰撞检测与控制方法.为了提高柔性机械臂在未知障碍物与机械臂侧面碰撞时的控制性能，引入了一种最优干扰解耦滤波器，该滤波器将不期望的碰撞力效应从估计误差中滤除.控制器通过使用最优干扰解耦滤波器基于状态估计来生成控制转矩。然后通过卡尔曼滤波器的创新实现碰撞检测。所提出的系统可以防止发生碰撞时控制性能的恶化。
This paper describes a method using coupled state estimators for collision detection and control of a single-link flexible arm. To improve the control performance of the flexible arm with an innovation-based collision detection system when unobserved obstacles collide with the arm’s side, we introduce an Optimal Disturbance Decoupling Filter that decouples undesired collision force effects from the estimation error. The controller generates a control torque based on the state estimate by using the Optimal Disturbance Decoupling Filter. Collision detection is then realized through the innovation of a Kalman filter. The proposed system prevents deterioration of the control performance when collision occurs.
单连杆柔性臂的 LEQG 控制
DOI：
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发表时间：
2005
期刊：
44th SICE Annual Conference, Okayama
影响因子：
--
作者：
Y. Sawada;D. Koga and T. Watanabe
通讯作者：
D. Koga and T. Watanabe