FORCE SENSING USING KALMAN FILTERING TECHNIQUES FOR ROBOT COMPLIANT MOTION CONTROL

Robot motion can be classified into free and contact motion. In practi cal tasks, however, the motion may transit from free motion to contact motion and vice versa. In such tasks, a position controller is design ed in free motion. A compensator is then added in the force feedback l oop to help the system reach the desired target impedance when the end -effector is in contact with the environment. To obtain accurate conta ct force, a Kalman filter is used to extract contact force from the wr ist force sensor signal which contains inertial force of the end-effec tor also.