Abstract
The implementation of the impedance controller requires exact linearization in operational space which is achieved by computed torque approach. In the paper a perturbation observer has used in one case to obtain the complete linearization torque and in another case to obtain only the compensating torque for unmodelled dynamic terms. This perturbation observer requires the joint acceleration feedback signal. The calculation by numerical derivation of joint position assumes that high resolution joint resolvers are available. Joint acceleration can be measured using accelerometers. Combining the end-effector accelerometers and joint position sensors can give acceleration estimate with higher bandwidth than each separately. Extended Kalman Filter was selected as a tool signal fusion. Operational space control was verified experimentally using fusion scheme based on an Extended Kalman Filter.
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