Experimental External Force Estimation Using a Non-Linear Observer for 6 axes Flexible-Joint Industrial Manipulators
dc.contributor.author
hal.structure.identifier | QIN, Jinna
|
dc.contributor.author
hal.structure.identifier | LEONARD, François
|
dc.contributor.author
hal.structure.identifier | ABBA, Gabriel
|
dc.date.accessioned | 2014 |
dc.date.available | 2014 |
dc.date.issued | 2013 |
dc.date.submitted | 2014 |
dc.identifier.isbn | 978-1-4673-5769-2 |
dc.identifier.uri | http://hdl.handle.net/10985/8178 |
dc.description.abstract | This paper proposes a non-linear observer to estimate not only the state (position and velocity) of links but also the external forces exerted by the robot during Friction Stir Welding (FSW) processes. The difficulty of performing this process with a robot lies in its lack of rigidity. In order to ensure a better tracking performance, the data such as real positions, velocities of links and external forces are required. However, those variations are not always measured in most industrial robots. Therefore, in this study, an observer is proposed to reconstruct those necessary parameters by using only measurements of motor side. The proposed observer is carried out on a 6 DOF flexible-joint industrial manipulator used in a FSW process. |
dc.description.sponsorship | ANR-2010-SEGI-003-01-COROUSSO, French National Agency |
dc.language.iso | en_US |
dc.publisher | the Institute of Electrical and Electronics Engineers |
dc.rights | Post-print |
dc.subject | External Force |
dc.subject | External force estimation |
dc.subject | Flexible joints |
dc.subject | Friction Stir Welding (FSW) |
dc.subject | Measurements |
dc.subject | Non-linear observer |
dc.subject | Tracking performance |
dc.title | Experimental External Force Estimation Using a Non-Linear Observer for 6 axes Flexible-Joint Industrial Manipulators |
dc.identifier.doi | 10.1109/ASCC.2013.6606364 |
dc.typdoc | Communication avec acte |
dc.localisation | Centre de Metz |
dc.subject.hal | Sciences de l'ingénieur: Automatique / Robotique |
ensam.audience | Internationale |
ensam.conference.title | 9th Asian Control Conference, ASCC 2013; Istanbul; Turkey |
ensam.conference.date | 2013-06-23 |
ensam.country | Turkey |
ensam.title.proceeding | 9th Asian Control Conference, ASCC 2013; Istanbul; Turkey |
ensam.page | 1-6 |
hal.identifier | hal-00994845 |
hal.version | 1 |
hal.submission.permitted | updateFiles |
hal.status | accept |