随机主动观测器的柔性运动控制

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.976347

R. Cortesão, R. Koeppe, U. Nunes, G. Hirzinger

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引用次数: 13

摘要

主动观察者理论最初是由Cortesao等人(2000)提出的。介绍了主动观测器设计中卡尔曼增益的特性。在不改变控制结构的情况下实现刚度自适应，这是状态空间设计的一个重要成果。通过一个人机技能传递系统的实验，说明了AOB在孔钉柔顺运动任务中的重要性。

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Compliant motion control with stochastic active observers

The theory of active observers was initially described by Cortesao et al. (2000). This paper introduces properties of the Kalman gains used in the active observer (AOB) design. An important result of the state-space design is demonstrated, which allows stiffness adaptation without changing the control structure. Experiments with a human-robot skill transfer system to perform the peg-in-hole compliant motion task are described, showing the importance of the AOB.

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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