External Force Estimation Based on Time Delay Estimation with Perturbed Kalman Filter

Summary: Aiming at the problems of model error and system disturbance in the force estimation at the end of the manipulator, a perturbed Kalman filter based on time delay estimation is proposed.External force estimation method.Without the use of additional force sensors, the time-delay estimation method is used to design an estimator that does not require an accurate dynamic model by measuring the motor drive current.Taking the external force as the state variable, the uncertainty and disturbance of the system are observed, and the perturbation Kalman filter is designed to estimate the external force on the end by considering the dynamics and disturbance dynamics of the manipulator.Using Matlab simulation software to verify the effectiveness of the method, the results show that the proposed estimation methodIt is very robust to systems with measurement noise, model errors and uncertain disturbances.

Keywords: Robot  External force estimation  Time Delay Estimation   Perturbed Kalman Filter  

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