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What is Adaptive Kalman Filter for Torque Sensing about?

This paper proposes an adaptive Kalman filter with a variable time period moving average to improve contact force and torque sensing for robotic manipulators. The filter adapts in real-time to balance response time and precision of joint torque estimation using motor current measurements. The approach was tested on an Universal Robot 5 manipulator and led to reduced estimation errors and faster response times compared to previous methods, especially with higher payloads.

Author

Thanh Hai Nguyen

Language

EN