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| Content Provider | IET Digital Library |
|---|---|
| Author | Park, Young Jin Chung, Wan Kyun |
| Abstract | The external torque estimation problem in a 1-degree-of-freedom flexible-joint robot system with a joint torque sensor is revisited. The flexible-joint robot has two dynamics, motor-side and link-side dynamics, making the problem more complicated. An external torque-sensing algorithm for the flexible-joint robot is proposed, which treats these two dynamics simultaneously for extracting external torques applied to the system. The basic structure of the proposed algorithm is illustrated, and the performance is verified by a custom-designed experimental apparatus for vertical configuration with a gravitational load. |
| Starting Page | 877 |
| Ending Page | 878 |
| Page Count | 2 |
| ISSN | 00135194 |
| Volume Number | 49 |
| e-ISSN | 1350911X |
| Issue Number | Issue 14, Jul (2013) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/el/49/14 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/el.2013.1297 |
| Journal | Electronics Letters |
| Access Restriction | Open |
| Rights Holder | © The Institution of Engineering and Technology |
| Subject Keyword | 1-degree-of-freedom Flexible-joint Robot System Custom-designed Experimental Apparatus End Effectors External Torque Extraction External Torque-sensing Algorithm Gravitational Load Kalman Filter Link-side Dynamics Manipulator Dynamics Manipulators Motor-side Dynamics Robot And Manipulator Mechanics Signal Processing Theory Vertical Configuration |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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