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Sensorless Reaction Force Estimation of the End Effector of a Dual-arm Robot Manipulator Using Sliding Mode Control with a Sliding Perturbation Observer

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Abstract

We estimated the reaction force for assembly work with a three-link dual-arm robot manipulator using sliding mode control with a sliding perturbation observer (SMCSPO) without using a force sensor. The sliding perturbation observer (SPO) is used to estimate the reaction force of the end effector without using any sensor. The SPO estimates the perturbation, which consists of the parameter uncertainties, nonlinear terms, and disturbances such as the reaction force. During assembly, the most effective perturbation term is close to the reaction force, so we assumed that the estimated perturbation is the same as the reaction force. The estimated perturbation was compared with the reaction force from the dynamics of the manipulator using a simulation with the SimMechanics toolbox of MATLAB/SIMULINK. The simulation results show the performance of the SMCSPO and that the reaction force can be estimated using the SPO without any sensor. The method can improve the structural reduction of link manipulator robots and decrease costs.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Pusan National University, 635-4 Jangjeon-2 dong, Geumjeong-gu, Busan, 46241, Korea

    Karam Dad Kallu, Wang Jie & Min Cheol Lee

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  1. Karam Dad Kallu
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  2. Wang Jie
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  3. Min Cheol Lee
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Corresponding author

Correspondence to Min Cheol Lee.

Additional information

Recommended by Associate Editor Kyoungchul Kong under the direction of Editor Yoshito Ohta. This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea Government (MSIP)(No.NRF-2012M2B2B 1055503) This research was supported by The Technology Innovation Program(10073147, Development of Robot Manipulation Technology by Using Artificial Intelligence) funded By the Ministry of Trade, Industry & Energy.

Karam Dad Kallu is working towards a Ph.D. degree in Mechanical Engineering from Pusan National University, Busan, Korea since 2015. He received the M.S and B.S degrees in Mechatronics Engineering from Air University, Islamabad, Pakistan, in 2013 and 2011, respectively. His research interests include nonlinear control, adaptive control, robust control, robot manipulator and system identification.

Wang Jie received the B.S. degree in Mechanical Engineering from Pusan National University, Busan, Korea in 2015. His research interests include nonlinear control, adaptive control, robot manipulator, robust control and system identification.

Min Cheol Lee received the Ph.D. degree in Applied Physics from University of Tsukuba, Tsukuba, Japan in 1991, his M. Eng. Degree in Engineering Science from University of Tsukuba, Tsukuba, Japan in 1988, and his B.S. degree in Mechanical Engineering from Pusan National University, Busan, Korea in 1983. His research interests include intelligent robot control, autonomous mobile robot, signal processing to identify a system, robust control of a vehicle driving simulator, sensor application, mechatronics, measuring three dimensional distance and object configuration using vision information.

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Kallu, K.D., Jie, W. & Lee, M.C. Sensorless Reaction Force Estimation of the End Effector of a Dual-arm Robot Manipulator Using Sliding Mode Control with a Sliding Perturbation Observer. Int. J. Control Autom. Syst. 16, 1367–1378 (2018). https://doi.org/10.1007/s12555-017-0154-7

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