Improvement of Robust Reaction Torque Observer for Estimation of the Grasping Torque of Forceps Manipulator

Abstract

In the previous research, robust reaction torque observer(RRTO) was proposed to estimate the grasping torque when the forceps manipulator grasped the object. However, previous RRTO needed an auxiliary motor to cancel overshoot of the estimated grasping torque, and often estimated an unnecessary grasping torque. In this paper, by measuring the current value using ammeter and modifying the identification method of various torque losses, improved RRTO is proposed to solve these problems. The effectiveness of the proposed new RRTO was verified through experiments of estimating the grasping torque of the grasped objects.