METHOD FOR ESTIMATING EXTERNAL FORCE 0N ROBOTIC SYSTEM USING TIME-DELAY ESTIMATION

摘要

The invention provides a method which estimates the external force acting on the robot by using a time delay estimation relates to a method for estimating the external force acting on the robot by using a time delay estimation, in detail, the robot is free space ( free surface) on the redemption operation (constrained motion) to mimic the experiments leading to the first delay estimate second time delay estimate the under contacting conditions contacting the bound environment (constrained environment) a first step of storing in the memory, the robot is constrained on the space (constrained space) to the second calculation step, and calculating the second time delay estimate stored in the memory and the first delay estimate of the external force acting on the robot by using the time delay estimate and a third step of calculating an external force in real time from the difference It relates to a method for estimating. ;