Impedance estimation of high stiffness environment based on robotic force sensation

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Other Title
  • ロボットの力検知に基づく高剛性な環境のインピーダンス推定

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<p>Robots are required to adapt flexibly to environmental changes in order to work in various environments. One of the effective ways to adapt flexibly to environmental changes is to estimate the impedance of the environments. The parameters of the impedance control is designed based on the impedance of the environments. The purpose of this study is to estimate the impedance of a high stiffness environments from the position and force information of the robot’s hand. In proposed method, exceptional handling of numerical calculation errors enables stable stiffness estimation. The estimation of the stiffness in one axis is shown by verification through experiments.</p>

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