Generalized Contact Force Estimator for a Robot Manipulator

Javier Gámez García, Anders Robertsson, Juan Gómez Ortega, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

23 Citations (SciVal)


In this work, we present implementation and experiment
of the theory of dynamic force sensing for robotic
manipulators. Since the inertial forces are undesirable forces to be
measured in the robot manipulation, it is processed, using sensor
fusion techniques, the force sensor signal in order to extract
the contact force exerted by the robot. We propose a complete
formulation and implementation of a new control strategy based
on multisensor fusion with three different sensors --- that is,
encoders mounted at each joint of the robot with six degrees of
freedom, a wrist force sensor and accelerometers --- whose goal is
to obtain a suitable contact force estimator. These new observers
contribute to overcome many of the difficulties of uncertain world
models and unknown environments, which limit the domain of
application of currents robots used without external sensory
feedback; in addition, the final observer can be applied to
any kind of real robot system. An impedance control scheme
was proposed to verify the improvement. The experiments were
carried out on an industrial Stäubli RX60 manipulator with open
control system architectures.
Original languageEnglish
Title of host publicationProc. IEEE Int. Conf. Robotics and Automation (ICRA 2006)
Publication statusPublished - 2006
EventIEEE Int Conf on Robotics and Automation (ICRA'2006) - Orlando, Florida, United States
Duration: 0001 Jan 2 → …


ConferenceIEEE Int Conf on Robotics and Automation (ICRA'2006)
Country/TerritoryUnited States
CityOrlando, Florida
Period0001/01/02 → …

Subject classification (UKÄ)

  • Control Engineering


Dive into the research topics of 'Generalized Contact Force Estimator for a Robot Manipulator'. Together they form a unique fingerprint.

Cite this