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Reaction Force Observer based Torque Control

Year 2021, Volume , Issue , 1 - 1, 31.12.2021
https://doi.org/10.2339/politeknik.848036

Abstract

In this article, a reaction force observer-based torque controller was designed and experimentally implemented to a non-backdrivable actuator unit. Torque control is of importance when considering physical human-robot interaction and researchers usually use torque sensors or custom-built torsional springs. These elements lead to relatively more complicated systems and increase the total weight. In contrast, reaction force observers can estimate external forces acting on the system and thus enable torque control with no need of torque sensing. The estimation process performs better for backdrivable systems, therefore, its implementation to non-backdrivable systems, e.g., systems with a gear ratio of 1:100, is limited. To remedy this issue, a reaction force observer-based torque controller was designed and implemented. As a result, experimental data showed that reaction force observer leads to favorable torque control performance when supported with friction compensation.

References

  • [1] De Santis A., Siciliano B., De Luca A., and Bicci A., “An atlas of physical human–robot interaction,” Mechanism and Machine Theory, 43: 253-270, (2008).
  • [2] Albu‐Schäffer A., Haddadin S., Ott C., Stemmer A., Wimböck T., and Hirzinger G. “The DLR lightweight robot: design and control concepts for robots in human environments,” Industrial Robot, 34: 376-385, (2007).
  • [3] Gautier M. and Jubien A., “Force calibration of KUKA LWR-like robots including embedded joint torque sensors and robot structure,” in IEEE International Conference on Intelligent Robots and Systems, Chicago, US, 416–421, (2014).
  • [4] Yildirim M. C., Sendur P., Bilgin O., Gulek B., Yapici G. G., and Ugurlu B., “An Integrated Design Approach for a Series Elastic Actuator: Stiffness Tuning, Fatigue Analysis, Thermal Management,” in IEEE International Conference on Humanoid Robots, Birmingham, UK, 384–389, (2017).
  • [5] Sariyildiz E., Oboe R., and Ohnishi K., “Disturbance observer-based robust control and its applications: 35th anniversary overview,” IEEE Transactions on Industrial Electronics, 67: 2042-2053, (2020).
  • [6] Sariyildiz E., and Ohnishi K., “Stability and robustness of disturbance-observer-based motion control systems,” IEEE Transactions on Industrial Electronics, 62: 414-422, (2014).
  • [7] Ohnishi K., Shibata M., and Murakami T., “Motion Control for Advanced Mechatronics,” IEEE Transactions on Mechatronics, 1: 56-67, (1996).
  • [8] Kaneko K., Kanehiro F., Morisawa M., Yoshida E., and Laumond J.-P., “Disturbance Observer that estimates External Force acting on Humanoid Robots,” in IEEE International Workshop on Advanced Motion Control, Sarajevo, Bosnia and Herzegovina, 1–6, (2012).
  • [9] Ugurlu B., Nishimura M., Hyodo, K., Kawanishi M., and Narikiyo T., “Proof of Concept for Robot-aided Upper Limb Rehabilitation Using Disturbance Observers,” IEEE Transactions on Human-Machine Systems, 45: 110-118, (2015).
  • [10] Sariyildiz E., and Ohnishi K., “On the explicit robust force control via disturbance observer,” IEEE Transactions on Industrial Electronics, 62: 1581-1589, (2014).
  • [11] Benallegue M., Gergondet P., Audren H., Audren A., Morisawa M., Lamiraux F., Kheddar A., and Kanehiro F., “Model-Based External Force/Moment Estimation for Humanoid Robots With No Torque Measurement,” in IEEE International Conference on Robotics and Automation, Brisbane, Australia, 3122–3129, (2018).
  • [12] Albu-Schaffer A., Hirzinger G., “Cartesian impedance control techniques for torque controlled light-weight robots,” in IEEE International Conference on Robotics and Automation, Washington, US, 3122–3129, (2018).
  • [13] Yildirim M. C., Kansizoglu A. T., Emre S., Derman M., Coruk S., Soliman, A. F., and Ugurlu B., “Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-Existence,” in IEEE International Conference on Rehabilitation Robotics, Toronto, Canada, 605–610, (2019).
  • [14] Coruk S., Yildirim, M. C., Kansizoglu, A. T., Dalgic, O, and Ugurlu B., “Design and Development of a Powered Upper Limb Exoskeleton with High Payload Capacity for Industrial Operations,” in IEEE International Conference on Human-Machine Systems, Rome, Italy, 1–4, (2020).

Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü

Year 2021, Volume , Issue , 1 - 1, 31.12.2021
https://doi.org/10.2339/politeknik.848036

Abstract

Bu makalede tepki kuvveti gözetleyicisi baz alınarak bir tork kontrolcüsü tasarlanmış ve etkinliği geri sürülebilir olmayan bir eyleyici ünitesi üzerinde deneysel olarak sınanmıştır. Fiziksel insan-robot etkileşimi için son derece yüksek bir öneme haiz olan tork kontrolü için genellikle tork sensörleri veya özel olarak üretilen burulma yayları kullanılmaktadır. Bu ekipmanlar ise hem sistemi karmaşıklaştırmakta, hem de toplam ağırlığı arttırmaktadır. Tepki kuvveti gözetleyici yöntemi ise sisteme etkiyen dış kuvvetleri kestirebilmekte ve bu sayede sensör kullanmaksızın tork kontrolünün uygulanmasına olanak sağlamaktadır. Bu kestirim genellikle geri sürülebilir sistemlerde daha sağlıklı işlemektedir, dolayısıyla geri sürülemeyen sistemlerde (örneğin 1:100 dişli oranlı sistemler) uygulaması sınırlıdır. Bu noktadan hareketle, geri sürülemeyen bir sistem için tepki kuvveti gözetleyicisi bazlı bir tork kontrolü tasarlanmış ve uygulanmıştır. Sonuç olarak sürtünme kompanzasyonu sağlandığında tepki kuvveti gözetleyicisinin tork kontrolünü sağlayabildiği deneysel bulgular ışığında saptanmıştır.

References

  • [1] De Santis A., Siciliano B., De Luca A., and Bicci A., “An atlas of physical human–robot interaction,” Mechanism and Machine Theory, 43: 253-270, (2008).
  • [2] Albu‐Schäffer A., Haddadin S., Ott C., Stemmer A., Wimböck T., and Hirzinger G. “The DLR lightweight robot: design and control concepts for robots in human environments,” Industrial Robot, 34: 376-385, (2007).
  • [3] Gautier M. and Jubien A., “Force calibration of KUKA LWR-like robots including embedded joint torque sensors and robot structure,” in IEEE International Conference on Intelligent Robots and Systems, Chicago, US, 416–421, (2014).
  • [4] Yildirim M. C., Sendur P., Bilgin O., Gulek B., Yapici G. G., and Ugurlu B., “An Integrated Design Approach for a Series Elastic Actuator: Stiffness Tuning, Fatigue Analysis, Thermal Management,” in IEEE International Conference on Humanoid Robots, Birmingham, UK, 384–389, (2017).
  • [5] Sariyildiz E., Oboe R., and Ohnishi K., “Disturbance observer-based robust control and its applications: 35th anniversary overview,” IEEE Transactions on Industrial Electronics, 67: 2042-2053, (2020).
  • [6] Sariyildiz E., and Ohnishi K., “Stability and robustness of disturbance-observer-based motion control systems,” IEEE Transactions on Industrial Electronics, 62: 414-422, (2014).
  • [7] Ohnishi K., Shibata M., and Murakami T., “Motion Control for Advanced Mechatronics,” IEEE Transactions on Mechatronics, 1: 56-67, (1996).
  • [8] Kaneko K., Kanehiro F., Morisawa M., Yoshida E., and Laumond J.-P., “Disturbance Observer that estimates External Force acting on Humanoid Robots,” in IEEE International Workshop on Advanced Motion Control, Sarajevo, Bosnia and Herzegovina, 1–6, (2012).
  • [9] Ugurlu B., Nishimura M., Hyodo, K., Kawanishi M., and Narikiyo T., “Proof of Concept for Robot-aided Upper Limb Rehabilitation Using Disturbance Observers,” IEEE Transactions on Human-Machine Systems, 45: 110-118, (2015).
  • [10] Sariyildiz E., and Ohnishi K., “On the explicit robust force control via disturbance observer,” IEEE Transactions on Industrial Electronics, 62: 1581-1589, (2014).
  • [11] Benallegue M., Gergondet P., Audren H., Audren A., Morisawa M., Lamiraux F., Kheddar A., and Kanehiro F., “Model-Based External Force/Moment Estimation for Humanoid Robots With No Torque Measurement,” in IEEE International Conference on Robotics and Automation, Brisbane, Australia, 3122–3129, (2018).
  • [12] Albu-Schaffer A., Hirzinger G., “Cartesian impedance control techniques for torque controlled light-weight robots,” in IEEE International Conference on Robotics and Automation, Washington, US, 3122–3129, (2018).
  • [13] Yildirim M. C., Kansizoglu A. T., Emre S., Derman M., Coruk S., Soliman, A. F., and Ugurlu B., “Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-Existence,” in IEEE International Conference on Rehabilitation Robotics, Toronto, Canada, 605–610, (2019).
  • [14] Coruk S., Yildirim, M. C., Kansizoglu, A. T., Dalgic, O, and Ugurlu B., “Design and Development of a Powered Upper Limb Exoskeleton with High Payload Capacity for Industrial Operations,” in IEEE International Conference on Human-Machine Systems, Rome, Italy, 1–4, (2020).

Details

Primary Language Turkish
Subjects Engineering
Journal Section Research Article
Authors

Erim Can ÖZÇINAR This is me
OZYEGIN UNIVERSITY
0000-0000-0000-0000
Türkiye


Regaip Barkan UĞURLU (Primary Author)
ÖZYEĞİN ÜNİVERSİTESİ
0000-0002-9124-7441
Türkiye

Publication Date December 31, 2021
Application Date December 29, 2020
Published in Issue Year 2021, Volume , Issue

Cite

Bibtex @research article { politeknik848036, journal = {Politeknik Dergisi}, issn = {}, eissn = {2147-9429}, address = {Gazi Üniversitesi Teknoloji Fakültesi 06500 Teknikokullar - ANKARA}, publisher = {Gazi University}, year = {2021}, volume = {}, pages = {1 - 1}, doi = {10.2339/politeknik.848036}, title = {Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü}, key = {cite}, author = {Özçınar, Erim Can and Uğurlu, Regaip Barkan} }
APA Özçınar, E. C. & Uğurlu, R. B. (2021). Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü . Politeknik Dergisi , , 1-1 . DOI: 10.2339/politeknik.848036
MLA Özçınar, E. C. , Uğurlu, R. B. "Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü" . Politeknik Dergisi (2021 ): 1-1 <https://dergipark.org.tr/en/pub/politeknik/issue/33364/848036>
Chicago Özçınar, E. C. , Uğurlu, R. B. "Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü". Politeknik Dergisi (2021 ): 1-1
RIS TY - JOUR T1 - Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü AU - Erim Can Özçınar , Regaip Barkan Uğurlu Y1 - 2021 PY - 2021 N1 - doi: 10.2339/politeknik.848036 DO - 10.2339/politeknik.848036 T2 - Politeknik Dergisi JF - Journal JO - JOR SP - 1 EP - 1 VL - IS - SN - -2147-9429 M3 - doi: 10.2339/politeknik.848036 UR - https://doi.org/10.2339/politeknik.848036 Y2 - 2021 ER -
EndNote %0 Journal of Polytechnic Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü %A Erim Can Özçınar , Regaip Barkan Uğurlu %T Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü %D 2021 %J Politeknik Dergisi %P -2147-9429 %V %N %R doi: 10.2339/politeknik.848036 %U 10.2339/politeknik.848036
ISNAD Özçınar, Erim Can , Uğurlu, Regaip Barkan . "Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü". Politeknik Dergisi / (December 2021): 1-1 . https://doi.org/10.2339/politeknik.848036
AMA Özçınar E. C. , Uğurlu R. B. Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü. Politeknik Dergisi. 2021; 1-1.
Vancouver Özçınar E. C. , Uğurlu R. B. Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü. Politeknik Dergisi. 2021; 1-1.
IEEE E. C. Özçınar and R. B. Uğurlu , "Tepki Kuvveti Gözetleyicisi Tabanlı Tork Kontrolü", Politeknik Dergisi, pp. 1-1, Dec. 2022, doi:10.2339/politeknik.848036
 
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