A Novel Dynamically Self Tuned Force/Torque Observer Formulation for Human Interaction in Collaborative Robotic Applications

Abstract

In this study, we present the design and numerical implementation of a novel force/torque observer formulation, for collaborative robotic tasks that might require human interaction. specifically a dynamically self-adjusting robust observer is introduced to ensure practical estimation of the end effector force/torque values of a robotic manipulator. The stability of the observer is guaranteed via Lyapunov based arguments and simulation studies implementation on a two link robotic manipulator are presented to demonstrate proof-of-concept.