ScholarWorks@숙명여자대학교

초록

This paper presents a sensorless force control algorithm for mechanical systems using the disturbance estimation technique. In general, measuring the external forces generated by the contact between the system and its environment from Force/Torque (F/T) or joint torque sensors is expensive and sensitive. Therefore, in this study, the external force is estimated using a disturbance observer (DOB), a well-established technique for estimating disturbances, and the estimated force is employed in the internal feedback loop for force control, replacing the sensor-based measurements typically used in the outer-loop. Based on the singular perturbation theory, we discuss the robust stability of the overall closed-loop system and analyze the force control and estimation performance. Furthermore, to prevent undesired oscillation and degraded performance in human-robot interaction situations, conditions that can avoid overshoots in the step response are provided. In order to validate the effectiveness of the proposed method, simulations for the mechanical system are conducted. © 2024 ICROS.

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