Collision detection and external force estimation for robot manipulators using a composite momentum observer

Benaoumeur Ibari; Mourad Hebali; Baghdadi Rezali; Menaouer Bennaoum; Benaoumeur Ibari; Mourad Hebali; Baghdadi Rezali; Menaouer Bennaoum

doi:10.3934/electreng.2024011

AIMS Electronics and Electrical Engineering

2024, Volume 8, Issue 2: 237-254. doi: 10.3934/electreng.2024011

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Research article Topical Sections

Collision detection and external force estimation for robot manipulators using a composite momentum observer

Department of Electrotechnical, University of Mustapha Stambouli Mascara, Mascara, 29000, Algeria

Academic Editor: Mihailo Ristic

Received: 16 March 2024 Revised: 23 April 2024 Accepted: 30 April 2024 Published: 10 May 2024

The collision detection and estimation of external forces for robot manipulators are essential to ensure compliance and safety in the interaction between the robot and the environment or humans. The focus of this paper was to design a hybrid approach for collision detection between robots and their environment, and further to estimate external forces acting on a robot manipulator without the need for additional sensors. The current collision detection methods using observers are still suffering from the problem of an unavoidable trade-off between the estimation sensitivity and the reduction of the peaking value at the initial time. To satisfy both robustness and avoid peaking phenomenon at the initial time, a composite observer was designed, consisting of both a momentum observer and an extended state observer. The first observer provides high-precision tracking, while the second one reduces the peak value at the start. Through their complementary roles, the composite observer achieves improved performance in terms of sensitivity and reducing the peaking value. Simulation results, conducted using a 2-degree-of-freedom (2-DOF) robot manipulator, attest to the efficacy of the proposed approach.
- robot manipulator,
- collision detection,
- force estimation,
- momentum observer
Citation: Benaoumeur Ibari, Mourad Hebali, Baghdadi Rezali, Menaouer Bennaoum. Collision detection and external force estimation for robot manipulators using a composite momentum observer[J]. AIMS Electronics and Electrical Engineering, 2024, 8(2): 237-254. doi: 10.3934/electreng.2024011

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Abstract

The collision detection and estimation of external forces for robot manipulators are essential to ensure compliance and safety in the interaction between the robot and the environment or humans. The focus of this paper was to design a hybrid approach for collision detection between robots and their environment, and further to estimate external forces acting on a robot manipulator without the need for additional sensors. The current collision detection methods using observers are still suffering from the problem of an unavoidable trade-off between the estimation sensitivity and the reduction of the peaking value at the initial time. To satisfy both robustness and avoid peaking phenomenon at the initial time, a composite observer was designed, consisting of both a momentum observer and an extended state observer. The first observer provides high-precision tracking, while the second one reduces the peak value at the start. Through their complementary roles, the composite observer achieves improved performance in terms of sensitivity and reducing the peaking value. Simulation results, conducted using a 2-degree-of-freedom (2-DOF) robot manipulator, attest to the efficacy of the proposed approach.

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