Abstract
In this paper, the contact force estimation in physical human-robot interaction without an explicit force sensing device based on the adaptive third order sliding mode observer is proposed. Firstly, the identification parameter of a robot manipulator is required. Then an adaptive third order sliding mode observer is designed to estimate contact force. Finally, the experimental results with the immediate stop control and admittance control using the proposed estimation contact force for 3-DOF AT2-FARA robot manipulator are shown to illustrate the capability of the proposed in the real application.
| Original language | English |
|---|---|
| Title of host publication | Intelligent Computing Theories and Application |
| Subtitle of host publication | 17th International Conference, ICIC 2021 Shenzhen, China, August 12–15, 2021 Proceedings, Part II |
| Editors | De-Shuang Huang, Kang-Hyun Jo, Jianqiang Li, Valeriya Gribova, Abir Hussain |
| Place of Publication | Cham |
| Publisher | Springer |
| Pages | 233–244 |
| Number of pages | 12 |
| ISBN (Electronic) | 9783030845292 |
| ISBN (Print) | 9783030845285 |
| DOIs | |
| Publication status | Published - 9 Aug 2021 |
Publication series
| Name | Lecture Notes in Computer Science |
|---|---|
| Volume | 12837 |
| ISSN (Print) | 0302-9743 |
| ISSN (Electronic) | 1611-3349 |
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 observers
- admittance control sensor-less