Nonlinear Kalman Filtering for Force-Controlled Robot Tasks

✍ Scribed by Tine Lefebvre, Herman Bruyninckx, Joris De Schutter (auth.)

Publisher: Springer-Verlag Berlin Heidelberg
Year: 2005
Tongue: English
Leaves: 268
Series: Springer Tracts in Advanced Robotics 19
Edition: 1
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

This monograph focuses on how to achieve more robot autonomy by means of reliable processing skills. "Nonlinear Kalman Filtering for Force-Controlled Robot Tasks " discusses the latest developments in the areas of contact modeling, nonlinear parameter estimation and task plan optimization for improved estimation accuracy. Kalman filtering techniques are applied to identify the contact state based on force sensing between a grasped object and the environment. The potential of this work is to be found not only for industrial robot operation in space, sub-sea or nuclear scenarios, but also for service robots operating in unstructured environments co-habited by humans where autonomous compliant tasks require active sensing.

✦ Table of Contents

1 Introduction....Pages 1-10
2 Literature Survey: Autonomous Compliant Motion....Pages 11-23
3 Literature Survey: Bayesian Probability Theory....Pages 25-49
4 Kalman Filters for Nonlinear Systems....Pages 51-76
5 The Non-Minimal State Kalman Filter....Pages 77-94
6 Contact Modelling....Pages 95-119
7 Geometrical Parameter Estimation and CF Recognition....Pages 121-137
8 Experiment: A Cube-In-Corner Assembly....Pages 139-164
9 Task Planning with Active Sensing....Pages 165-197
10 General Conclusions....Pages 199-204
A The Linear Regression Kalman Filter....Pages 205-210
B The Non-Minimal State Kalman Filter....Pages 211-217
C Frame Transformations....Pages 219-221
D Kalman Filtering for Non-Minimal Measurement Models....Pages 223-226
E Partial Observation with the Kalman Filter....Pages 227-229
F A NMSKF Linearizing State for the Geometrical Parameter Estimation....Pages 231-234
G CF-Observable Parameter Space for Twist and Pose Measurements....Pages 235-239

✦ Subjects

Automation and Robotics; Control Engineering; Artificial Intelligence (incl. Robotics); Systems Theory, Control

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