A novel extended reaction force/torque observer with impedance control

Ozcelik, Ilkay Turac; Baran, Eray

doi:10.55730/1300-0632.4064

A novel extended reaction force/torque observer with impedance control

İlkay Turaç ÖZÇELİK, (İstanbul Bilgi Üniversitesi, Mühendislik ve Doğa Bilimleri Fakültesi, Elektrik-Elektronik Mühendisliği Bölümü, İstanbul, Türkiye)

Abdurrahman Eray BARAN (İstanbul Bilgi Üniversitesi, Mühendislik ve Doğa Bilimleri Fakültesi, Mekatronik Mühendisliği Bölümü, İstanbul, Türkiye)

Turkish Journal of Electrical Engineering and Computer Sciences

69 0

Yıl: 2024 Cilt: 32 Sayı: 1 Sayfa Aralığı: 219 - 233 Metin Dili: İngilizce DOI: 10.55730/1300-0632.4064 İndeks Tarihi: 14-03-2024

A novel extended reaction force/torque observer with impedance control

Öz:

This paper proposes a new extended version of the reaction force observer (RFOB) for high-precision motion control systems. The RFOB has been proven to be useful for many applications in the literature. However, because of the low-pass filter present inside of the RFOB, it has certain limitations. In this study, a new algorithm is proposed to compensate for filtering-based errors in the classical RFOB structure. The algorithm includes the differentiation of the observed force and scaling with a proper value. However, since the force has a noisy nature, differentiation also affects the signal’s stability and performance. To resolve this issue, a new controller algorithm coupled with the proposed RFOB is formulated and implemented. The mathematical derivation of the proposed structure along with experimental validations for different force references are shown to provide a complete analysis. The results obtained from the experiments prove that the proposed observer-controller structure outperforms the existing force control architectures.

Anahtar Kelime: Reaction force observer force control impedance control motion control disturbance observer

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık

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APA	Ozcelik I, Baran E (2024). A novel extended reaction force/torque observer with impedance control. , 219 - 233. 10.55730/1300-0632.4064
Chicago	Ozcelik Ilkay Turac,Baran Eray A novel extended reaction force/torque observer with impedance control. (2024): 219 - 233. 10.55730/1300-0632.4064
MLA	Ozcelik Ilkay Turac,Baran Eray A novel extended reaction force/torque observer with impedance control. , 2024, ss.219 - 233. 10.55730/1300-0632.4064
AMA	Ozcelik I,Baran E A novel extended reaction force/torque observer with impedance control. . 2024; 219 - 233. 10.55730/1300-0632.4064
Vancouver	Ozcelik I,Baran E A novel extended reaction force/torque observer with impedance control. . 2024; 219 - 233. 10.55730/1300-0632.4064
IEEE	Ozcelik I,Baran E "A novel extended reaction force/torque observer with impedance control." , ss.219 - 233, 2024. 10.55730/1300-0632.4064
ISNAD	Ozcelik, Ilkay Turac - Baran, Eray. "A novel extended reaction force/torque observer with impedance control". (2024), 219-233. https://doi.org/10.55730/1300-0632.4064

APA	Ozcelik I, Baran E (2024). A novel extended reaction force/torque observer with impedance control. Turkish Journal of Electrical Engineering and Computer Sciences, 32(1), 219 - 233. 10.55730/1300-0632.4064
Chicago	Ozcelik Ilkay Turac,Baran Eray A novel extended reaction force/torque observer with impedance control. Turkish Journal of Electrical Engineering and Computer Sciences 32, no.1 (2024): 219 - 233. 10.55730/1300-0632.4064
MLA	Ozcelik Ilkay Turac,Baran Eray A novel extended reaction force/torque observer with impedance control. Turkish Journal of Electrical Engineering and Computer Sciences, vol.32, no.1, 2024, ss.219 - 233. 10.55730/1300-0632.4064
AMA	Ozcelik I,Baran E A novel extended reaction force/torque observer with impedance control. Turkish Journal of Electrical Engineering and Computer Sciences. 2024; 32(1): 219 - 233. 10.55730/1300-0632.4064
Vancouver	Ozcelik I,Baran E A novel extended reaction force/torque observer with impedance control. Turkish Journal of Electrical Engineering and Computer Sciences. 2024; 32(1): 219 - 233. 10.55730/1300-0632.4064
IEEE	Ozcelik I,Baran E "A novel extended reaction force/torque observer with impedance control." Turkish Journal of Electrical Engineering and Computer Sciences, 32, ss.219 - 233, 2024. 10.55730/1300-0632.4064
ISNAD	Ozcelik, Ilkay Turac - Baran, Eray. "A novel extended reaction force/torque observer with impedance control". Turkish Journal of Electrical Engineering and Computer Sciences 32/1 (2024), 219-233. https://doi.org/10.55730/1300-0632.4064