확장된 칼만필터를 이용한 2축 로봇 매니퓰레이터의 접촉힘 추정 = Contact Force Estimation in 2-link Robot Manipulator Using Extended Kalman Filters

다국어 초록 (Multilingual Abstract)

Recent requirements for thе fast and accurate motion in industrial robot manipulator need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is usually installed to obtain thе contact force information in practice. This information is indispensable for the force control of maintaining thе desired contact force. However the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between thе end-effector of 2 DOF robots and environment. The contact force estimaiton system is developed based on the static and dynamic models of 2 DOE robot manipulators, where thе contact force is described with respect to thе link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.