TY - JOUR
T1 - External Torque Estimation Using Higher Order Sliding-Mode Observer for Robot Manipulators
AU - Kommuri, Suneel Kumar
AU - Han, Seungyong
AU - Lee, Sangmoon
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2022/2/1
Y1 - 2022/2/1
N2 - Online monitoring of external torque/force is receiving much attention with the increasing demand in industries, where robot manipulators are required to cooperate with humans, assemble product parts or perform certain tasks that involve the interaction with fragile objects. Estimation of external torque when the robot manipulator interacts with the external environment is investigated in this article. A higher order sliding-mode-based observer is designed to estimate the external torque online against nonlinear friction. Moreover, a Luenberger observer is designed to stabilize the general momenta error dynamics by using sum of squares programming. Lyapunov analysis is considered to demonstrate the stability of an overall system and the convergence of angular position tracking errors. Simulation as well as experimental results using 7-DOF Sawyer robot under various practical scenarios demonstrate the effectiveness of the proposed scheme.
AB - Online monitoring of external torque/force is receiving much attention with the increasing demand in industries, where robot manipulators are required to cooperate with humans, assemble product parts or perform certain tasks that involve the interaction with fragile objects. Estimation of external torque when the robot manipulator interacts with the external environment is investigated in this article. A higher order sliding-mode-based observer is designed to estimate the external torque online against nonlinear friction. Moreover, a Luenberger observer is designed to stabilize the general momenta error dynamics by using sum of squares programming. Lyapunov analysis is considered to demonstrate the stability of an overall system and the convergence of angular position tracking errors. Simulation as well as experimental results using 7-DOF Sawyer robot under various practical scenarios demonstrate the effectiveness of the proposed scheme.
KW - External torque estimation
KW - model uncertainties
KW - robotic manipulator
KW - robust-observer design
UR - http://www.scopus.com/inward/record.url?scp=85103300805&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2021.3067443
DO - 10.1109/TMECH.2021.3067443
M3 - Article
AN - SCOPUS:85103300805
SN - 1083-4435
VL - 27
SP - 513
EP - 523
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 1
ER -