Construction Method of Broadband High-order Reaction Force Observer for the Reproduction of the Expert Skills

Abstract

Current, automation of the manufacture of machine parts is processing with the improvement of automation technology and robot technology. However, while demand for precision parts (mold, gear, and so on) is increasing, finishing work requires the expert skills. On the other hands, force control system by a force sensor has problem of frequency band and installation cost.

In this study, we aim to construct a low cost and surviving skilled skills system with combining sensorless force control system. This paper proposes construction method of broadband high-order reaction force observer for the reproduction of the expert skills. Moreover, we confirm the estimate accuracy of the proposed method through simulations.