Link elasticity exploited for payload estimation and force control

Jörn Malzahn; Russell Schloss; Torsten Bertram

IROS 2015poster11 citations

Link elasticity exploited for payload estimation and force control

Jörn Malzahn, Russell Schloss, Torsten Bertram

Abstract

Link elasticity is commonly understood to be a detrimental side-effect of imperfect mechanical designs of robotic arms and comparable machinery. In contrast to this notion, this paper demonstrates a novel approach to exploit intrinsic robot link compliance in order to estimate a priori unknown payload masses, measure and also control end effector forces. In this way, the intrinsic link elasticity can be seen as an enabler for new sensing and control capabilities instead of a purely detrimental effect.

BibTeX

@inproceedings{iros2015_linkelasticityex,
  title = {Link elasticity exploited for payload estimation and force control},
  author = {Jörn Malzahn and Russell Schloss and Torsten Bertram},
  booktitle = {IROS 2015},
  year = {2015}
}