Abstract
Fast and robust collision monitoring is crucial to guarantee safe human-robot collaboration. In this paper, the loop shaping technique is used to improve the performance and robustness of conventional collision detection observers. External force estimated by the state-of-the-art first-order observer is fed to a lead-lag compensator for further processing, which results in a high-order observer. The lead compensator improves response speed in low-frequency range while the lag compensator enhances high-frequency noise attenuation of the observer. The effectiveness of utilizing the loop shaping technique is validated through simulation and experiments. The results show that the proposed observer has the fastest response speed and best noise attenuation performance compared with previous observers.
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Acknowledgements
This work was supported by the Basic and Applied Basic Research Foundation of Guangdong Province [grant number 2020B1515120015]; the National Science Foundation of China [grant numbers 12272089, U1908217]; and the Fundamental Research Funds for the Central Universities of China [grant numbers N2224001-4, N2003013].
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Duan, Z., Luo, Z., Liu, Y., Wu, Y., Chen, . (2023). A Faster and�More Robust Momentum Observer for�Robot Collision Detection Based on�Loop Shaping Techniques. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_10
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DOI: https://doi.org/10.1007/978-981-99-6495-6_10
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