基于自适应三阶滑模观测器的协作机器人无传感器接触力估计的实现

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS

Systems Science & Control Engineering Pub Date : 2022-05-10 DOI:10.1080/21642583.2022.2063201

Quang Dan Le, Hee-Jun Kang

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引用次数: 2

摘要

在本文中，我们提出了一种基于自适应三阶滑模观测器的无显式力传感协作机器人接触力估计方法。设计了一种自适应三阶滑模观测器，仅基于位置测量来估计接触力。当机器人与人交互时，来自观测器的信息被用于准入控制和紧急停止控制。使用所提出的三自由度AT2-FARA机器人机械手接触力估计，对紧急停止控制和导纳控制的实验结果表明了所提出的系统在实际应用中的能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Implementation of sensorless contact force estimation in collaborative robot based on adaptive third-order sliding mode observer

In this paper, we propose the estimation of contact force in a collaborative robot without explicit force-sensing based on the adaptive third-order sliding mode observer. An adaptive third-order sliding mode observer was designed to estimate the contact force based only on the position measurement. The information from the observer was used for admittance control and emergent stop control when the robot interacts with a human. The experimental results with the emergent stop control and admittance control, using the proposed contact force estimation for the 3-DOF AT2-FARA robot manipulator, illustrate the capability of the proposed system in real-world application.

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来源期刊

Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-

CiteScore

9.50

自引率

2.40%

发文量

审稿时长

29 weeks

期刊介绍： Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory