Performance Comparisons of Different Observer-Based Force-Sensorless Approaches for Impedance Control of Collaborative Robot Manipulators

Shih Hsuan Chien, Jyun Hsiang Wang, Ming Yang Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Human robot interaction is commonly seen in the application of collaborative robots. In order to ensure the safety of the human operator, most existing approaches exploit the idea of compliance control in the design of suitable controllers. In particular, force sensors are often used to estimate the contact force that is essential in the design of the compliance control scheme. However, force sensor-based approaches are not cost-effective. In order to cope with this problem so as to facilitate the implementation of compliance control, this paper aims to compare various observer-based force-sensorless approaches for implementing impedance control of collaborative robot manipulators. Different observer-based approaches, such as the generalized momentum approach, the extended state observer, the modified extended state observer, and the closed-loop disturbance observer are used in this paper to estimate the contact force. Several impedance control experiments conducted on a 6-DOF robot manipulator are used to assess the performances of the aforementioned observer-based approaches. Experimental results indicate that the modified extended state observer exhibits the best performance on contact force estimation among all the tested observer-based approaches.

Original languageEnglish
Title of host publicationProceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages326-331
Number of pages6
ISBN (Electronic)9781728163895
DOIs
Publication statusPublished - 2020 Jun 10
Event3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020 - Virtual, Tampere, Finland
Duration: 2020 Jun 102020 Jun 12

Publication series

NameProceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020

Conference

Conference3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020
CountryFinland
CityVirtual, Tampere
Period20-06-1020-06-12

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Hardware and Architecture
  • Information Systems and Management
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Safety, Risk, Reliability and Quality

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