SENSOR-FREE FORCE/TORQUE SENSING IN AN ARTICULATED ELECTROMECHANICAL ACTUATOR-DRIVEN ROBOT

摘要

A method for force or torque sensing in an electromechanical actuator-driven robot comprising one or more links, one or more joints, an end effector and a controller is provided, the method comprising: estimating a first set of load torques in one or more joints in a given configuration of the robot without external force or load applied to the end effector; identifying gravitational and frictional components in the first set of load torques; estimating a second set of load torques in the one or more joints in the given configuration of the robot with an external force or load applied to the end effector; calculating a difference between the second set of load torques and the first set of load torques, taking into account the identified gravitational and frictional components; calculating an external force or torque acting on the end effector based on the difference between the second set of load torques and the first set of load torques using a Jacobian matrix for the given configuration of the robot; and presenting the external force or torque in a Cartesian space. An apparatus for force or torque sensing in an electromechanical actuator-driven robot, the apparatus comprising at least one processor programmed to perform said method, a computer program which, when executed by at least one processor, causes the at least one processor to perform force or torque sensing in an electromechanical actuator-driven robot according to said method, and a non-transitory storage medium for storing said program are also provided. The technical result consists in improved precision of force or torque sensing on an end effector of an electromechanical actuator-driven robot in a manner which does not require using expensive force/torque sensors in robot joints.