Reaction force observer using load dependent friction model

Abstract

This paper proposes a reaction force observer (RFOB) using a load dependent friction model. In recent years, robots that can estimate reaction force for the use of force control are attracting attention. In the proposed method, reaction force estimation that didn't require a force sensor is performed. Generally, the friction model is only dependent on velocity, whereas the proposed method can further improve the estimation accuracy by considering the load dependence. Moreover, this method can be implemented without changing setup of the existing geared servo motor.