Evaluation of Force Estimation Method Based on Sliding Perturbation Observer for Dual-arm Robot System

다국어 초록 (Multilingual Abstract)

Dual-arm robots require information on the end-effector’s assembly force for the precision and accuracyof assembly work to be ensured. However, the attachment of a force sensor to the end-effector not only considerablyincreases cost and weight but also introduces structural problems. In this study, through simulations and experiments, a sliding perturbation observer is applied to a seven-degree-of-freedom robot arm to estimate the assemblyforce without the use of a force sensor. This paper proposes a method for determining whether the end-effector ofa robot arm collides with an assembly part on the basis of the estimated perturbation without a force sensor. If theabsolute values of the axes perturbations sharply increase, then it can be assumed that the end-effector of the robotmanipulator and the assembly part have collided. This research also evaluates the extent of similarity between theestimated perturbation and reaction force at the moment of assembly.

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