SMCSPO based reaction force estimation for 7 DOF robot arm

摘要

The high degree-of-freedom robot arms need the end-effector's assembly force information for precision and accuracy works. But attaching a force sensor on the end-effector of robot is difficult because of cost, weight and structural problems. In this paper, we will apply SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) robust control algorithm to a 7 degree-of-freedom robot arm to estimate assembly force without force sensor in Robotics Lab simulation. From estimated perturbation, we can decide whether the end-effector of robot arm crashes the assembly part of not. If the absolute value of perturbation of most axes is sharply increasing case, it can be assumed that the end-effector of robot manipulator and assembling parts collide into each other.