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

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...

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Main Authors: Benaoumeur Ibari, Mourad Hebali, Baghdadi Rezali, Menaouer Bennaoum
Format: Article
Language:English
Published: AIMS Press 2024-05-01
Series:AIMS Electronics and Electrical Engineering
Subjects:
Online Access:https://www.aimspress.com/article/doi/10.3934/electreng.2024011
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author Benaoumeur Ibari
Mourad Hebali
Baghdadi Rezali
Menaouer Bennaoum
author_facet Benaoumeur Ibari
Mourad Hebali
Baghdadi Rezali
Menaouer Bennaoum
author_sort Benaoumeur Ibari
collection DOAJ
description 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.
format Article
id doaj-art-bfd98fc38ead4e6badbba4cf02dd3582
institution Kabale University
issn 2578-1588
language English
publishDate 2024-05-01
publisher AIMS Press
record_format Article
series AIMS Electronics and Electrical Engineering
spelling doaj-art-bfd98fc38ead4e6badbba4cf02dd35822025-01-24T01:10:27ZengAIMS PressAIMS Electronics and Electrical Engineering2578-15882024-05-018223725410.3934/electreng.2024011Collision detection and external force estimation for robot manipulators using a composite momentum observerBenaoumeur Ibari0Mourad Hebali1Baghdadi Rezali2Menaouer Bennaoum3Department of Electrotechnical, University of Mustapha Stambouli Mascara, Mascara, 29000, AlgeriaDepartment of Electrotechnical, University of Mustapha Stambouli Mascara, Mascara, 29000, AlgeriaDepartment of Electrotechnical, University of Mustapha Stambouli Mascara, Mascara, 29000, AlgeriaDepartment of Electrotechnical, University of Mustapha Stambouli Mascara, Mascara, 29000, AlgeriaThe 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.https://www.aimspress.com/article/doi/10.3934/electreng.2024011robot manipulatorcollision detectionforce estimationmomentum observer
spellingShingle Benaoumeur Ibari
Mourad Hebali
Baghdadi Rezali
Menaouer Bennaoum
Collision detection and external force estimation for robot manipulators using a composite momentum observer
AIMS Electronics and Electrical Engineering
robot manipulator
collision detection
force estimation
momentum observer
title Collision detection and external force estimation for robot manipulators using a composite momentum observer
title_full Collision detection and external force estimation for robot manipulators using a composite momentum observer
title_fullStr Collision detection and external force estimation for robot manipulators using a composite momentum observer
title_full_unstemmed Collision detection and external force estimation for robot manipulators using a composite momentum observer
title_short Collision detection and external force estimation for robot manipulators using a composite momentum observer
title_sort collision detection and external force estimation for robot manipulators using a composite momentum observer
topic robot manipulator
collision detection
force estimation
momentum observer
url https://www.aimspress.com/article/doi/10.3934/electreng.2024011
work_keys_str_mv AT benaoumeuribari collisiondetectionandexternalforceestimationforrobotmanipulatorsusingacompositemomentumobserver
AT mouradhebali collisiondetectionandexternalforceestimationforrobotmanipulatorsusingacompositemomentumobserver
AT baghdadirezali collisiondetectionandexternalforceestimationforrobotmanipulatorsusingacompositemomentumobserver
AT menaouerbennaoum collisiondetectionandexternalforceestimationforrobotmanipulatorsusingacompositemomentumobserver