Summary
International Symposium on Nonlinear Theory and its Applications
2009
Session Number:A4L-C
Session:
Number:A4L-C2
A New Adaptive Observer for Force-Moment Sensor Calibration
Ying Liu, Henry Leung , Wallace Kit-Sang Tang , Qiang Jia ,
pp.-
Publication Date:2009/10/18
Online ISSN:2188-5079
Summary:
In this paper, an adaptive observer is designed to calibrate the force-moment sensor (FMS) of a space robot. Assuming that the mass properties of a payload are known, it is rigourously proved that the calibration matrix can be accurately obtained, based on the measured data from the FMS and the payload displacement recorded by a laser vision system. The effectiveness of the design has also been confirmed with simulation results.