Using an observer in force control between planar robot and environment

In practice, a lot of manufacturing tasks performed by robots involve extensive contact with objects in workplace. In such tasks it is required to control the forces of interaction between the manipulator and the objects directly. In order to apply these force control algorithms, force sensors must be used in a role of output feedback signals. However, in some applications force sensors are unsuitable due to their restrictions. This paper suggests a force estimation method for robot which is based on the estimated force method with the force observer model. This method will be used to form an observer set for 2-DOF (Degree of Freedom) Planar Robot and integrate to control robot force. Through simulations, we have illustrated the feasibility of the proposed algorithm.