Position estimation and object collision detection of a tendon-driven actuator based on a polytopic observer synthesis

Benoit Huard; Mathieu Grossard; Sandrine Moreau; Thierry Poinot

Position estimation and object collision detection of a tendon-driven actuator based on a polytopic observer synthesis

Benoit Huard ^{1, 2, *} Mathieu Grossard ¹ Sandrine Moreau ^{2, 3} Thierry Poinot ^{3, 2}

* Corresponding author

1 DIASI - Département Intelligence Ambiante et Systèmes Interactifs

2 LIAS - Laboratoire d'Informatique et d'Automatique pour les Systèmes

3 LAII - Laboratoire d'Automatique et d'Informatique Industrielle

Abstract : This paper proposes a multi-model based approach that estimates joint position and collision detection of a lightweight electric actuator dedicated to manipulation tasks. Taking advantage of an optimized back-drivable mechatronic design, the use of proprioceptive measures at the motor level enables the estimation of the unmeasured terminal position of the mechanical motor-to-joint transmission and force contact disturbance. A polytopic formulation is introduced based on an accurate model of the mechatronic transmission. Then, a multi-model observer-based estimator is synthesized using root-clustering for exteroceptive variables estimation without additional position/force sensor. The approach is experimentally validated with a single degree-of-freedom manipulator.

Keywords : Back-drivable actuator Least-squares identification Polytopic convex transformation Multi-model observer Linear matrix inequalities Collision detection

Document type :

Journal articles

Domain :

Engineering Sciences [physics]

Complete list of metadatas

https://hal-cea.archives-ouvertes.fr/cea-01778155
Contributor : Bruno Savelli <>
Submitted on : Wednesday, April 25, 2018 - 2:33:03 PM
Last modification on : Thursday, May 16, 2019 - 10:38:06 AM

Position estimation and object collision detection of a tendon-driven actuator based on a polytopic observer synthesis

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Position estimation and object collision detection of a tendon-driven actuator based on a polytopic observer synthesis

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