トルクセンサレス手先力推定法

抄録

This paper proposes a new method of external force estimation, which is exerted onto the end of robotic arm, by using a static relation between load torque and rotational speed of the joint. We identify the static relation, i.e., T-N curve model, by means of measurements of stall torque and no-load speed of the first link. The algorithm for estimation is based not on the joint torque measurements but on torque command computed by the T-N curve model. Finally, we show the time response of reaction force during impulsive contact with external environment.