Force tracking on unknown surface using impedance control with force sensor filtering

In force tracking task with impedance control, mitigating the influence caused by inevitable noise in force sensor and regulating a proper reference trajectory are the two most crucial problems. In order to mitigate the impact of force sensor noise, we proposed a support vector machine (SVM) based filtering method, which has the ability to recognize noise signals and deal with them in real time. A reference trajectory self-adjusting algorithm is also presented in this paper, the reference trajectory can be regulated online, which is by using by PI control algorithm. The simulation and experiment results reveal that the methods proposed are feasible and well-performed. Compared with the traditional filtering methods, the proposed method can achieve the purpose of filtering without delay. The difficulty in regulating a proper reference trajectory is also solved by the self-adjusting algorithm, and it has the advantage of computationally efficient and well-performed in practice compared with the force tracking methods presented before.