A Design of an Extended State Observer for the Motion/Force Control of Constrained Robotics Systems Y. Huang 1) M. Svinin 2) Z. Luo 2) S. Hosoe 2)

1
A Design of an Extended State Observer for the
Motion/Force Control of Constrained Robotics
SystemsY. Huang 1) M. Svinin 2) Z.
Luo 2) S. Hosoe 2)

1. Institute of Systems Science, AMSS, Chinese
   Academy of Science, P.R.China
2. Bio-mimetic Control Research Center, RIKEN, Japan

The work deals with mosition/force control of
constrained robotic systems. The control system
is based on the use of an extended state observer
(ESO) that can estimate the dynamic processes in
nonlinear systems. In essence, ESO implements a
non-model based compensation for the nonlinear
dynamics and environment uncertainty in
controlling both the end-effector motion and the
interaction force. The proposed strategy is
tested under simulation where a robot finger is
constrained by a wall. The simulation results
show feasibility and a very good performance of
the ESO-based control scheme.
Problem Description
2
Basic Control Strategy
Simulation Research
The simulation model comes from the experimental
device of a multi-fingered robot hand shown in
Fig.1. Suppose that the finger is commanded to
polish a wall that can be described as
and exert the contact force
. However, instead of the exact geometric
constraint, we only have a vague approximation
about the constraint as follows
Experimental setup of the multi-fingered robot
hand and kinematic scheme of the finger
Motion in the task space(Y-Z space)
force response
Manipulator dynamic estimation( ,
)
Force dynamic estimation( , )