文章基本信息

标题：Model-Based Signal Processing for the Force Control of Biaxial Gantry Robots * * This work was supported by Festo AG & Co. KG
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作者：Stefan Flixeder ; Tobias Glück ; Martin Böck 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：3208-3214
DOI：10.1016/j.ifacol.2017.08.439
语种：English
出版社：Elsevier
摘要：AbstractFor the automation of certain industrial tasks, like the handling of deformable materials, force/torque sensors are frequently employed in robotic manipulators. This work investigates different signal processing strategies for a force sensor mounted on the end-effector of a biaxial gantry robot. For this, a suitable mathematical model of the manipulator is derived and analyzed. The merits and limitations of the proposed signal processing strategies are compared and validated by a number of experimental results.
关键词：KeywordsRobots manipulatorsmodelingnonlinear observersfilter design