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An Improved Adaptive Super-Twisting Momentum Observer to Estimate External Torque for a Robot Manipulator

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Abstract

Physical collaboration between humans and robots is the inevitable result of future robot development. Ensuring human safety is the most fundamental guarantee. Both dynamic impact and quasi-static clamping are potentially dangerous. External torque should be detected as sensitively as possible. This paper combines insights from the super-twisting algorithm and robot momentum observer to introduce an improved adaptive super-twisting momentum observer. It is for efficient external torque estimation in the case of a proprioceptive sensor (encoder) based only. The observer is based on a super-twisting momentum observer that first uses a Sigmoid function to reduce jitter. Then a proportional-integral observer structure is adopted to increase the observation speed. Finally, coping with real-time changeable external torque input through a constructed parameter adaptive law. The observer provides a quick and reliable estimation of external torque. The proposed method was illustrated with simulation and hardware experiments with a 7-degree-of-freedom collaborative robot.

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Data Availability and materials

The datasets used or analyzed during the current study are available from the corresponding author on reasonable request. The data used to support the findings of this study are included within the article

Code Availability

The code that supports the fndings of this article is available from the corresponding author upon reasonable request.

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Acknowledgements

This work was financially supported by the National Nature Science Foundation of China under Grant 62263004, the Fundamental Ability Enhancement Poject for Young and Middle-aged University Teachers in Guangxi Province (2021KY0793), the National Nature Science Foundation of China under Grant 61863008, and the Key Research and Development Program of Guangxi (No.AB21196066).

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Authors and Affiliations

  1. School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin, 541004, China

    Shike Long & Xuanju Dang

  2. School of Aeronautics and Astronautics, Guilin University of Aerospace Technology, Guilin, 541004, China

    Shike Long & Shanlin Sun

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  1. Shike Long
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  2. Xuanju Dang
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  3. Shanlin Sun
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Contributions

Shike Long: Conceptualization, Writing - original draft, Data curation, Formal analysis, Validation. Xuanju Dang: Conceptualization, Writing – review & editing, Data curation, Formal analysis, Validation. Shanlin Sun: Data curation, Formal analysis, Validation.

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Correspondence to Xuanju Dang.

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Long, S., Dang, X. & Sun, S. An Improved Adaptive Super-Twisting Momentum Observer to Estimate External Torque for a Robot Manipulator. J Intell Robot Syst 107, 25 (2023). https://doi.org/10.1007/s10846-023-01814-5

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