Abstract
Measuring and controlling external force from the environment and human beings are essential to realize the future application of the robot systems for medical, nursing, and personal support systems. This paper proposes a friction and noise suppression for force control system based on the integration of the reaction torque observer and force (torque) sensor information. The proposed method performs external force estimation by integrating the low-frequency component information of the force sensor and the high-frequency component of the force information estimated by reaction torque observer (RTOB). By using the low-frequency component of the force sensor, the effect of static friction can be suppressed, and the high-frequency part of RTOB can be used to attenuate the noise component. As a result, the performance of the force control system can be enhanced. The proposed method is evaluated through the experiments of the force control and bilateral control as a position/force hybrid control.
Highlights
Torque/force control systems used for the realization of contact motions have been widely researched [1,2,3]
As shown in the figure, the reason why the output of reaction torque observer (RTOB) is generated even though the value of the force sensor is almost zero is that the value of the friction torque is outputted. These results show that the RTOB-based method cannot move because of the influence of friction
This paper proposed a force control system by using an external-force estimation method based on the integration of RTOB and force sensor information
Summary
Torque/force control systems used for the realization of contact motions have been widely researched [1,2,3]. Measuring and controlling external force from the environment and human beings are essential to realize the future application of the robot systems for medical, nursing, and personal support systems. The reaction torque/force control is required for precise control, when contacting delicate objects, and to interact with human beings in open environments. The superiority of the observer-based force control system over the force sensor-based system is Nagatsu and Hashimoto Robomech J (2020) 7:7 is sensitive to noise and limit the bandwidth of the force control system by implementing a low-pass filter to suppress the noise. The RTOB-based force control has a problem due to friction. The force sensor-based method has a problem in bandwidth limitation of force sensing due to noise
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