Force Sensing Using Kalman Filtering Techniques for Robot Compliant Motion Control

Abstract

Robot motion can be classified into free and contact motion. In practical tasks, however, the motion may transit from free motion to contact motion and vice versa. In such tasks, a position controller is designed in free motion. A compensator is then added in the force feedback loop to help the system reach the desired target impedance when the end-effector is in contact with the environment. To obtain accurate contact force, a Kalman filter is used to extract contact force from the wrist force sensor signal which contains inertial force of the end-effector also.