Combined observer-based robotic force control with spatial payload inertia compensation

Le résumé fourni par la source

Accurate force sensing and robust disturbance rejection are fundamental to stable and precise robotic contact tasks. This paper proposes a combined observer-based framework for robotic force control that compensates for spatial payload inertia and rejects disturbances within the force loop. A spatial payload momentum observer (SPMO) is developed to decouple the inertial effects of the payload from the force/torque sensor. The observer leverages spatial dynamics and provides an explicitly characterized 1st-order low-pass filtered estimate of the contact wrench, avoiding noise from numerical differentiation. Integrated into a decoupled motion force control structure, a combined observer (CDOB) that accounts for force subspace dynamics and sensing filtering is designed to compensate for control disturbances. This design alleviates the inherent trade-off between transient response and control stability in existing force disturbance rejection approaches. Simulations and experiments under a 3.5kg payload and an electric sander validate the framework, including dual-axis force control that shows its spatial compensation capability. The SPMO achieves a favorable tradeoff between estimation delay and noise level compared to conventional methods, while the CDOB enables fast and robust disturbance rejection without compromising transient force control performance.

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