A novel extended reaction force/torque observer with impedance control
Küçük Resim Yok
Tarih
2024
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Tubitak Scientific & Technological Research Council Turkey
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
This paper proposes a new extended version of the reaction force observer (RFOB) for high -precision motion control systems. The RFOB has been proven to be useful for many applications in the literature. However, because of the low-pass filter present inside of the RFOB, it has certain limitations. In this study, a new algorithm is proposed to compensate for filtering -based errors in the classical RFOB structure. The algorithm includes the differentiation of the observed force and scaling with a proper value. However, since the force has a noisy nature, differentiation also affects the signal's stability and performance. To resolve this issue, a new controller algorithm coupled with the proposed RFOB is formulated and implemented. The mathematical derivation of the proposed structure along with experimental validations for different force references are shown to provide a complete analysis. The results obtained from the experiments prove that the proposed observer -controller structure outperforms the existing force control architectures.
Açıklama
Anahtar Kelimeler
Reaction Force Observer, Force Control, İmpedance Control, Motion Control, Disturbance Observer, Force Control, Actuator, Robots
Kaynak
Turkish Journal of Electrical Engineering and Computer Sciences
WoS Q Değeri
N/A
Scopus Q Değeri
Q3
Cilt
32
Sayı
1
