Han, L. orcid.org/0000-0002-4023-3322, Mao, J. orcid.org/0000-0001-8979-2646, Cao, P. et al. (2 more authors) (2022) Toward Sensorless Interaction Force Estimation for Industrial Robots Using High-Order Finite-Time Observers. IEEE Transactions on Industrial Electronics, 69 (7). pp. 7275-7284. ISSN 0278-0046
Abstract
This article proposes a novel interaction force estimation scheme capable of estimating the interaction forces for industrial robots with high precision in the absence of force sensors. Specifically, we first establish the dynamic model of a class of industrial robots via model identification methods. Furthermore, a high-order finite-time observer (HOFTO) is established to estimate the interaction forces, where HOFTO serves as an interaction force observer and is designed to accurately estimate external time-varying interaction forces. In addition, we strictly analyze the stability of our approach in two different cases, endowing HOFTO with reliable estimation abilities in broader applications. Subsequently, we integrate the estimated force information into the applications of force control frameworks (e.g., collision detection and impedance control). Several evaluations on a real 6-axes robot demonstrate the effectiveness of the proposed approach.
Metadata
Item Type: | Article |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Estimation; Observers; Force; Robots; Friction; Robot sensing systems; Dynamics; Force control; high-order finite-time observer; interaction force estimation; parameter identification |
Dates: |
|
Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 22 Sep 2023 10:54 |
Last Modified: | 28 Sep 2023 15:05 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/tie.2021.3095820 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:203579 |