Park, Y.J. Lee, H. Oh, Y. Chung, W.K. 2024-01-12T06:56:18Z 2024-01-12T06:56:18Z 2022-03-07 2012-05 1050-4729 https://pubs.kist.re.kr/handle/201004/80410 One of the main reasons for using a joint torque sensor in a robot is to measure body forces acting on the system. Especially, the motor actuating torque and the external link torque are important for a flexible joint control. However, it is difficult to measure or estimate those two torques simultaneously with a single joint torque sensor only due to the lack of information. In this paper, Kalman Filter based two-port Body Force OBserver(KF 2-port BFOB) was proposed to estimate two output torques from the motor-side port and the link-side port simultaneously using the two-port system dynamics, the joint angle and the sensor torque from the joint torque sensor based on the Kalman filter. The basic idea of KF 2-port BFOB is illustrated and its performance is verified by implementing the algorithm with disturbance observer(DOB) in the motor actuated one-DOF flexible joint robot. The experiments are executed in the planar situation (under the gravity-free condition) and in the vertical situation(under the gravity condition) respectively to verify the performance of KF 2-port BFOB. The results show something with conclusion. ？ 2012 IEEE. English Institute of Electrical and Electronics Engineers Inc. Development of Kalman filter based two-port body force observer for the flexible joint: Design and experiments Conference 10.1109/ICRA.2012.6225384 1 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, pp.2717 - 2722 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 2717 2722 US Saint Paul, MN 2012-05-14 Proceedings - IEEE International Conference on Robotics and Automation 2-s2.0-84864469556