함수 연결 신경망과 외란 관측기를 이용한 힘 추정기 설계 및 로봇 매니퓰레이터에의 응용

Design of a Force Estimator using an FLANN with a Disturbance Observer and Application to a Robot Manipulator

In this paper, we propose a new approach to determination of environment forces acting on a rigid body. To estimate the output of disturbance observer due to internal torque, the disturbance observer output estimator using functional link neural network (FLANN) is designed. It is also shown by simulation results that the precise estimation of contact force is achieved for a 2-link SCARA robot performing position/force control.