A Novel Dynamically Self Tuned Force/Torque Observer Formulation for Human Interaction in Collaborative Robotic Applications
Conference paper > Full Text · 2024
Authors: Hazin Inci, Erman SELİM, Enver TATLICIOĞLU, Erkan Zergeroglu, Sule Taskingollu
IFAC Workshop on Cyber-Physical Human Systems, Türkiye, Antalya, International, Verbal, Full Text, 2024-2024, vol 58, pp 67-72
DOI: 10.1016/j.ifacol.2025.01.158
Summary
In this study, we present the design and numerical implementation of a novel force/torque observer formulation, for collaborative robotic tasks that might require human interaction. specifically a dynamically self-adjusting robust observer is introduced to ensure practical estimation of the end effector force/torque values of a robotic manipulator. The stability of the observer is guaranteed via Lyapunov based arguments and simulation studies implementation on a two link robotic manipulator are presented to demonstrate proof-of-concept.