Environment Aware Friction Observer with Applications to Force Control Benchmarking

IF 4.7 Q2 MATERIALS SCIENCE, BIOMATERIALS ACS Applied Bio Materials Pub Date : 2024-01-31 DOI:10.3390/act13020053

Eldison Dimo, Andrea Calanca

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Abstract

The benchmarking of force control algorithms has been significantly investigated in recent years. High-fidelity experimental benchmarking outcomes may require high-end electronics and mechanical systems not to compromise the algorithm’s evaluation. However, affordability may be highly desired to spread benchmarking tools within the research community. Mechanical inaccuracies due to affordability can lead to undesired friction effects which in this paper are tackled by exploiting a novel friction compensation technique based on an environment-aware friction observer (EA-FOB). Friction compensation capabilities of the proposed EA-FOB are assessed through simulation and experimental comparisons with a widely used static friction model: Coulomb friction combined with viscous friction. Moreover, a comprehensive stability comparison with state-of-the-art disturbance observers (DOBs) is conducted. Results show higher stability margins for the EA-FOB with respect to traditional DOBs. The research is carried on within the Forecast project, which aims to provide tools and metrics to benchmark force control algorithms relying on low-cost electronics and affordable hardware.

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环境感知摩擦力观测器在力控制基准测试中的应用

近年来，对力控制算法的基准测试进行了大量研究。高保真实验基准结果可能需要高端电子和机械系统，以免影响算法评估。然而，为了在研究界推广基准测试工具，人们可能非常需要经济实惠的产品。由于经济性造成的机械误差可能会导致不期望的摩擦效应，本文利用基于环境感知摩擦观测器（EA-FOB）的新型摩擦补偿技术来解决这一问题。通过与广泛使用的静摩擦模型进行模拟和实验比较，评估了所提出的 EA-FOB 的摩擦补偿能力：库仑摩擦与粘性摩擦相结合。此外，还与最先进的扰动观测器（DOB）进行了全面的稳定性比较。结果表明，与传统的 DOB 相比，EA-FOB 具有更高的稳定性裕度。这项研究是在 Forecast 项目内进行的，该项目旨在提供工具和指标，以便对依靠低成本电子器件和经济型硬件的力控制算法进行基准测试。

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来源期刊

ACS Applied Bio Materials Chemistry-Chemistry (all)

CiteScore

9.40

自引率

2.10%

发文量

464

期刊介绍： ACS Applied Bio Materials is an interdisciplinary journal publishing original research covering all aspects of biomaterials and biointerfaces including and beyond the traditional biosensing, biomedical and therapeutic applications. The journal is devoted to reports of new and original experimental and theoretical research of an applied nature that integrates knowledge in the areas of materials, engineering, physics, bioscience, and chemistry into important bio applications. The journal is specifically interested in work that addresses the relationship between structure and function and assesses the stability and degradation of materials under relevant environmental and biological conditions.