Wrench Estimation of Modular Manipulator with External Actuation and Joint Locking
2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS(2023)
摘要
This paper proposes an external wrench estimation method for modular manipulators, where each link module is driven with external actuation (e.g., rotors, thrusters) and inter-module joints can be locked to increase end-effector stiffness or workforce of the manipulator. For such systems, the commonly-used momentum-based observer (MBO [1]) is not suitable due to the presence of unknown joint locking (JL) torque and also the degeneracy of Jacobian transpose relation with the system degree-of-freedom (DOF) becoming less than six with the joint locking. To overcome this, we propose two novel external wrench estimation algorithms: a distributed algorithm based on recursive Newton-Euler dynamics and a centralized algorithm based on D'Alembert's principle, both using an F/T (force/torque) sensor at the base. Experiments are conducted to demonstrate the effectiveness of the proposed algorithms.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要