Comparison of force control performance based on only acceleration sensor with KF/EKF

Nobuhiro Kobayashi, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This paper proposes two types of force control systems based only on measurements of an acceleration sensor attached on the tip position of a three-link planar redundant manipulator. To estimate the acceleration with high accuracy, a Kalman filter (KF) based on a dynamic model of the manipulator and an extended Kalman filter (EKF) based on a kinematic model of the manipulator are introduced in each system. Further, a disturbance force observer (DFOB) and a reaction force observer (RFOB) are also implemented in the force control system, and the acceleration estimated by the KF/EKF is directly utilized in those observers. Simulations and experiments are conducted to examine the characteristics of the estimation performance and compare the force control performance of the two types of systems based on the KF and the EKF.

Original languageEnglish
Pages (from-to)559-567
Number of pages9
JournalIEEJ Journal of Industry Applications
Issue number5
Publication statusPublished - 2015


  • Acceleration sensor
  • Force control
  • Kalman filter
  • Redundant manipulator
  • Work space observer

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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