关键词：力控制；冗余机械臂；加速度传感器
摘 要：This paper proposes two types of force control system based on measurements of an acceleration sensor attached on the tip-position of a 3-link planar redundant manipulator. To estimate the acceleration with high accuracy, Kalman filter(KF) based on dynamic model of the manipulator and extended Kalman filter(EKF) based on kinematic model of that are introduced to each system. Furthermore, Disturbance Force Observer(DFOB) and Reaction Force Observer(RFOB) are also implemented in the force control system, and estimated acceleration information by KF/EKF is directly utilized in those observers. Experiments are conducted to examine the characteristics of estimation performance and compare the force control performance based on each of KF and EKF.