Deflection-based force sensing for continuum robots: A probabilistic approach
Deflection-based force sensing for continuum robots: A probabilistic approach
复制标题
连续体机器人基于偏转的力传感：概率方法
DOI：
10.1109/iros.2011.6094526
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
R. Webster
中科院分区：
文献类型：
--
作者：
D. C. Rucker;R. Webster
连续体机器人固有的灵活性使它们能够以安全和顺从的方式与对象交互。这种灵活性还使得使用机器人挠度来估计施加在机器人上的外力成为可能。这种“内在力传感”的概念对于薄型连续体机器人特别有用，因为其应用限制排除了传统的力传感器的使用。本文描述了一种扩展卡尔曼滤波方法，该方法仅利用不确定的位姿测量和具有不确定的机器人的运动学-静态模型来估计连续介质机器人顶端的力。
The inherent flexibility of continuum robots allows them to interact with objects in a safe and compliant way. This flexibility also makes it possible to use robot deflection to estimate external forces applied to the robot. This “intrinsic force sensing” concept is particularly useful for thin continuum robots where application constraints preclude the use of traditional force sensors. This paper describes an Extended Kalman Filter approach to estimate forces applied at the tip of a continuum robot using only uncertain pose measurements and a kinematic-static model of the robot with uncertainty.