Research On Force Measurement Technology Based On The Disturbance Observer

The force sensor is a most commonly used sensor in industrialpractice, which is widely used in various industrial automationenvironment. However, in certain circumstances or some devices, the useof the force sensor is limited by various conditions, as well as the forcesensor has some of the characteristics, which can’t get a good application,for example, in minimally invasive surgical robot, due to cost, structureand other issues, the integrated force sensor surgical instrument can’t beused in clinical surgery.this paper is based on the disturbance observer force detectiontechnology.Iin the case of having no force sensor, it can estimate thatthe force between the mechanical tool and environment: these twoaspects are the force of friction in elevator door machine system of single-degree-of-freedom and the force of multi-degree-of-freedom spaceagencies and environmental. The main contents are as follows:1. Conduct experimental verification for the friction in elevator doormachine system based on disturbance observer force detectiontechnology. The main contents include: derive elevator door machinesystem dynamics equation; establish elevator door machine systemhardware and software experiment platform; obtain four sets of datathrough experiments under different load, and using a set of data with noload identifying kinetic parameters, verify method based on disturbanceobserver force detection with the other three sets of data.2. Use D-H method to establish coordinate system of the fivedegrees of freedom robot, then use the homogeneous coordinatestransform obtaining a robot forward Kinematics; deduce robot Jacobianmatrix and solving the Jacobian matrix in different coordinatetransformation; Use Newton-Euler iteration kinetic equation establishingthe robot dynamics equation; design the structure of disturbance observerand select the time constant of disturbance observer; Analysis theconversion relationship between the external force acting on the end ofthe robot actuators and an external torque on the joints of the robot,deduce the model of force detection based on the disturbance observer.3.Establish robot dynamics simulation model by ADAMSsimulation software; conduct kinetic parameters identification by dynamics simulation data obtained; finally, verify the accuracy of thedetection method based on the disturbance observer force through the endof the robot actuator linear motion simulation data obtained.