METHOD FOR ESTIMATING THE EXTERNAL FORCE OF A ROBOT SYSTEM USING TIME-DELAY ESTIMATION WHICH DOES NOT REQUIRE A FORCE/TORQUE SENSOR

摘要

PURPOSE: A method for estimating the external force of a robot system using Time-Delay Estimation is provided to accurately estimate the external force of a robot system without robot dynamics.;CONSTITUTION: A method for estimating the external force of a robot system using Time-Delay Estimation is as follows. A first TDE estimate is stored in a memory so that a robot can copy a constrained motion at a free space. A second TDE estimate is calculated when the robot touches constrained environment at a constrained space. The external force of the robot is calculated in real time through the difference between the first and second TD estimates.;COPYRIGHT KIPO 2012