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Lara Candido Alvim
Department of Mechanical Engineering, Pontifical Catholic University of Rio de Janeiro (PUC-Rio) Marques de Sao Vicente, 225 - Gávea, Zip code 22453-900, Rio de Janeiro, RJ
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Leonardo Dias Pereira
Department of Mechanical Engineering, Pontifical Catholic University of Rio de Janeiro (PUC-Rio) Marques de Sao Vicente, 225 - Gávea, Zip code 22453-900, Rio de Janeiro, RJ
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Elias Dias Rossi Lopes
Department of Mechanical Engineering, Military Institute of Engineering (IME) General Tibúrcio Sq, 80 - Urca, Zip code 22290-270, Rio de Janeiro, RJ
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Helon Vicente Hultmann Ayala
Department of Mechanical Engineering, Pontifical Catholic University of Rio de Janeiro (PUC-Rio) Marques de Sao Vicente, 225 - Gávea, Zip code 22453-900, Rio de Janeiro, RJ
Keywords:
Moving horizon estimation (MHE), State estimation, Mode estimation, Switching systems, Least-square optimization, Robotic manipulator, Flexible joint
Abstract
In recent decades, the increased use of robotic manipulators in the industrial environment has increasingly impacted the human-robot interaction and the safety performance during this interaction. Consequently, control methods that can predict contact, control force, or trajectory to avoid damage during collision become required. This paper considers mode and state estimation for detecting contact in a single-link flexible joint manipulator using the moving horizon estimation (MHE) approach. This method was addressed by employing a least-squares optimization problem, solved for each instant of time to select the best estimation of the system behavior. First, the main aspects of the method have been presented, then the effectiveness of the proposed approach was demonstrated through simulation results, comparing the solution for the real system and the estimate.
