A novel extended reaction force/torque observer with impedance control

Basit Öğe Kaydı
dc.authoridOzcelik, Ilkay Turac/0000-0002-9170-0015
dc.contributor.authorOzcelik, Ilkay Turac
dc.contributor.authorBaran, Abdurrahman Eray
dc.date.accessioned2024-07-18T20:50:47Z
dc.date.available2024-07-18T20:50:47Z
dc.date.issued2024
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description.abstractThis 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.en_US
dc.description.sponsorshipIstanbul Bilgi University [RDI.2020.1]en_US
dc.description.sponsorshipThis study was partially supported by Internal Research Grant RDI.2020.1 from Istanbul Bilgi University.en_US
dc.identifier.doi10.55730/1300-0632.4064
dc.identifier.issn1300-0632
dc.identifier.issn1303-6203
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-85185314796en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.trdizinid1227095en_US
dc.identifier.urihttps://doi.org/10.55730/1300-0632.4064
dc.identifier.urihttps://search.trdizin.gov.tr/yayin/detay/1227095
dc.identifier.urihttps://hdl.handle.net/11411/8239
dc.identifier.volume32en_US
dc.identifier.wosWOS:001168218700013en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakTR-Dizinen_US
dc.language.isoenen_US
dc.publisherTubitak Scientific & Technological Research Council Turkeyen_US
dc.relation.ispartofTurkish Journal of Electrical Engineering and Computer Sciencesen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectReaction Force Observeren_US
dc.subjectForce Controlen_US
dc.subjectİmpedance Controlen_US
dc.subjectMotion Controlen_US
dc.subjectDisturbance Observeren_US
dc.subjectForce Controlen_US
dc.subjectActuatoren_US
dc.subjectRobotsen_US
dc.titleA novel extended reaction force/torque observer with impedance controlen_US
dc.typeArticleen_US

Dosyalar

Koleksiyon

Web of Science Indexed Publications
Scopus Indexed Publications
TR Dizin Indexed Publications