扩展卡尔曼滤波在夹持器力检测系统中的应用
首发时间:2014-05-15
摘要:针对夹持器力检测存在的强干扰问题,提出了基于完整力控制系统闭环非线性模型的扩展卡尔曼滤波方法。基于夹持器分段非线性状态空间模型,设计了扩展卡尔曼滤波器。在仿真平台和实际系统上,将所提出的扩展卡尔曼滤波器分别与巴特沃斯低通滤波器、基于DSP的混合滤波器进行对比。实验验证了所提出方法的有效性,对夹持力检测值的估计能满足闭环控制的要求。
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Application of extended Kalman filter to gripper force measurement system
Abstract:A method of extended Kalman filter based on nonlinear model of the whole closed-loop force control system is proposed for strong interference of force measurement of gripper system. The extended Kalman filter is designed based on gripper piecewise nonlinear state-space model. In simulation and actual system experiments, the extended Kalman filter is applied and compared it to Butterworth low-pass filter、mixed filtering based on DSP. The results demonstrated the proposed method was effective, and the estimation of gripper force measurement could meet the requirements of closed-loop control.
Keywords: Extended Kalman filter;Gripper system Force measurement
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