Abstract
Focusing on accurately measuring the terminal force of the hydraulic manipulator without the force sensor, a soft-sensing method of terminal force based on the dynamic model and the fusion of multiple pressure/encoder feedback information is presented. Compared with the direct estimation method (DEM) which calculates the force in terms of the computer-aided design (CAD) model, the dynamic model in the presented method is identified by employing the recursive least square method to increase the soft-sensing precision. To decrease the deviations of identified dynamic parameters in the high reachable workspace, an optimal excitation trajectory based on the finite Fourier series model is designed, ensuring that the condition number of the regression matrix is at a minimum under the motion constraints. Then, the hydraulic manipulator operates without load by this excitation trajectory to establish an online soft-sensing model. The constant and variable load forces are utilized to conduct the experiment verification.
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