Estimation of the External Force for a Co-Manipulation Task Using the Drive Chain Robot

The aim of this paper is to show that the observation
of the external effort and the sensor-less control of a system is
limited by the mechanical system. First, the model of a one-joint
robot with a prismatic joint is presented. Based on this model,
two different procedures were performed in order to identify the
mechanical parameters of the system and observe the external effort
applied on it. Experiments have proven that the accuracy of the force
observer, based on the DC motor current, is limited by the mechanics
of the robot. The sensor-less control will be limited by the accuracy in
estimation of the mechanical parameters and by the maximum static
friction force, that is the minimum force which can be observed in
this case. The consequence of this limitation is that industrial robots
without specific design are not well adapted to perform sensor-less
precision tasks. Finally, an efficient control law is presented for high
effort applications.

Authors:

• Sylvain Devie
• Pierre-Philippe Robet
• Yannick Aoustin
• Maxime Gautier

Keywords:

• Control
• Identification
• Robot
• Co-manipulation
• Sensor-less.

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