Implementation of sensorless contact force estimation in collaborative robot based on adaptive third-order sliding mode observer

Quang Dan Le; Hee-Jun Kang

doi:10.1080/21642583.2022.2063201

Implementation of sensorless contact force estimation in collaborative robot based on adaptive third-order sliding mode observer

Quang Dan Le, Hee-Jun Kang

Design, Manufacturing And Engineering Management

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

In this paper, we propose the estimation of contact force in a collaborative robot without explicit force-sensing based on the adaptive third-order sliding mode observer. An adaptive third-order sliding mode observer was designed to estimate the contact force based only on the position measurement. The information from the observer was used for admittance control and emergent stop control when the robot interacts with a human. The experimental results with the emergent stop control and admittance control, using the proposed contact force estimation for the 3-DOF AT2-FARA robot manipulator, illustrate the capability of the proposed system in real-world application.

Original language	English
Pages (from-to)	507-516
Number of pages	10
Journal	Systems Science and Control Engineering
Volume	10
Issue number	1
DOIs	https://doi.org/10.1080/21642583.2022.2063201
Publication status	Published - 10 May 2022

Funding

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2016R1D1A3B03930496).

Keywords

physical human-robot interaction
sliding mode observer
third-order sliding mode observer
admittance control sensorless
collaborative robot

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10.1080/21642583.2022.2063201Licence: CC BY 4.0

Le-Kang-SSCE-2022-Implementation-of-sensorless-contact-force-estimation-in-collaborative-robotFinal published version, 1.98 MBLicence: CC BY 4.0

Cite this

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abstract = "In this paper, we propose the estimation of contact force in a collaborative robot without explicit force-sensing based on the adaptive third-order sliding mode observer. An adaptive third-order sliding mode observer was designed to estimate the contact force based only on the position measurement. The information from the observer was used for admittance control and emergent stop control when the robot interacts with a human. The experimental results with the emergent stop control and admittance control, using the proposed contact force estimation for the 3-DOF AT2-FARA robot manipulator, illustrate the capability of the proposed system in real-world application.",

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N2 - In this paper, we propose the estimation of contact force in a collaborative robot without explicit force-sensing based on the adaptive third-order sliding mode observer. An adaptive third-order sliding mode observer was designed to estimate the contact force based only on the position measurement. The information from the observer was used for admittance control and emergent stop control when the robot interacts with a human. The experimental results with the emergent stop control and admittance control, using the proposed contact force estimation for the 3-DOF AT2-FARA robot manipulator, illustrate the capability of the proposed system in real-world application.

AB - In this paper, we propose the estimation of contact force in a collaborative robot without explicit force-sensing based on the adaptive third-order sliding mode observer. An adaptive third-order sliding mode observer was designed to estimate the contact force based only on the position measurement. The information from the observer was used for admittance control and emergent stop control when the robot interacts with a human. The experimental results with the emergent stop control and admittance control, using the proposed contact force estimation for the 3-DOF AT2-FARA robot manipulator, illustrate the capability of the proposed system in real-world application.

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KW - sliding mode observer

KW - third-order sliding mode observer

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Implementation of sensorless contact force estimation in collaborative robot based on adaptive third-order sliding mode observer

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