Experimental External Force Estimation Using a Non-Linear Observer for 6 axes Flexible-Joint Industrial Manipulators

Jinna Qin (1) , François Leonard (1) , Gabriel Abba (1)

1 LCFC - Laboratoire de Conception Fabrication Commande

This paper proposes a non-linear observer to estimate not only the state (position and velocity) of links but also the external forces exerted by the robot during Friction Stir Welding (FSW) processes. The difficulty of performing this process with a robot lies in its lack of rigidity. In order to ensure a better tracking performance, the data such as real positions, velocities of links and external forces are required. However, those variations are not always measured in most industrial robots. Therefore, in this study, an observer is proposed to reconstruct those necessary parameters by using only measurements of motor side. The proposed observer is carried out on a 6 DOF flexible-joint industrial manipulator used in a FSW process.

Mots clés: External Force; External force estimation; Flexible joints; Friction Stir Welding (FSW); Measurements; Non-linear observer; Tracking performance

Domaines: Automatique / Robotique

Jinna Qin, François Leonard, Gabriel Abba. Experimental External Force Estimation Using a Non-Linear Observer for 6 axes Flexible-Joint Industrial Manipulators. 9th Asian Control Conference, ASCC 2013; Istanbul; Turkey, Jun 2013, Turkey. pp.1-6, ⟨10.1109/ASCC.2013.6606364⟩. ⟨hal-00994845⟩