TY - GEN
T1 - Composite Momentum-based Observers for the Estimation of External Force on Robot Manipulators
AU - Kwon, Wookyong
AU - Jo, Seonghyeon
AU - Dong, Jeyoun
AU - Kang, Dongyeop
AU - Lee, Sang Jun
N1 - Publisher Copyright:
© 2021 ICROS.
PY - 2021
Y1 - 2021
N2 - This paper investigates the estimation of external force on robot manipulators. The issue is of great importance for the safety of human-robot collaborative tasks and for the human-robot interactive tasks. However, the estimation of external force using model-based approach suffers from model uncertainties and disturbances. It also requires a quick estimate when detecting a collision. To satisfy both fast convergence and robustness, composite observers are newly proposed, which is composed of sliding mode observers and polynomial observers based on momentum state. Through their complementary roles, a composite observer achieves improved performance in safety and estimation. The simulation results show the effectiveness and validity of the proposed composite momentum-based observers.
AB - This paper investigates the estimation of external force on robot manipulators. The issue is of great importance for the safety of human-robot collaborative tasks and for the human-robot interactive tasks. However, the estimation of external force using model-based approach suffers from model uncertainties and disturbances. It also requires a quick estimate when detecting a collision. To satisfy both fast convergence and robustness, composite observers are newly proposed, which is composed of sliding mode observers and polynomial observers based on momentum state. Through their complementary roles, a composite observer achieves improved performance in safety and estimation. The simulation results show the effectiveness and validity of the proposed composite momentum-based observers.
KW - Momentum-based observers
KW - Robot manipulators
KW - Sensorless collision detection
UR - https://www.scopus.com/pages/publications/85124193907
U2 - 10.23919/ICCAS52745.2021.9649786
DO - 10.23919/ICCAS52745.2021.9649786
M3 - Conference paper
AN - SCOPUS:85124193907
T3 - International Conference on Control, Automation and Systems
SP - 1842
EP - 1847
BT - 2021 21st International Conference on Control, Automation and Systems, ICCAS 2021
PB - IEEE Computer Society
T2 - 21st International Conference on Control, Automation and Systems, ICCAS 2021
Y2 - 12 October 2021 through 15 October 2021
ER -