Multi-layer Observers Design for Force Control with Robot Finger Pad by Using Element Description Method

Kosuke Egawa, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In order to adapt robot hand to daily movements, it is necessary to control the finger pad force. There is an affinity between the elastic joint, which is the mechanism that can press the finger pad, and the two-mass resonance system (TMRS) that can estimate the force at the tip. However there are some elements in the elastic joint that cannot be modeled by TMRS. The elements are include an error caused by the use of a nonlinear spring called rubber in this mechanism, and an error caused by friction generated in this mechanism, which was not generated in the conventional TMRS. Therefore, in this paper, we propose to model those elements by element description method. In order to verify the effectiveness of this method, we verified the accuracy of the value estimated by TMRS in some postures.

Original languageEnglish
Title of host publicationIECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
ISBN (Electronic)9781665480253
DOIs
Publication statusPublished - 2022
Event48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022 - Brussels, Belgium
Duration: 2022 Oct 172022 Oct 20

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2022-October

Conference

Conference48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022
Country/TerritoryBelgium
CityBrussels
Period22/10/1722/10/20

Keywords

  • 2-mass resonant system
  • Disturbance observer
  • Elastic joint
  • Reaction force observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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