Abstract:
The reaction force observer (RFOB) is susceptible to interference and struggles to estimate accurate forces in bilateral control systems. This article proposes a novel co...Show MoreMetadata
Abstract:
The reaction force observer (RFOB) is susceptible to interference and struggles to estimate accurate forces in bilateral control systems. This article proposes a novel control method for the estimation of microforces over a large stroke range based on a macro-micro drive system. This method is further applied in bilateral control. The macroactuator comprises a motor characterized by a large stroke and inherent friction, while the microactuator utilizes a voice coil motor (VCM) that offers a small stroke with frictionless. Through dynamic modeling, the elastic forces caused by flexible hinges and the coupling interference between the macro-micro manipulator are compensated. Subsequently, the macro-micro manipulator is treated as an integrated system, and a new RFOB is constructed for it. The transfer function of this integrated system closely resembles that of the VCM, indicating that the macro-micro manipulator behaves like a VCM with extended travel. Experimental validation confirms these methodologies. The accuracy of external force estimation on the macro-micro manipulator achieves millinewton precision with fluctuations of less than 0.5 mN. The proposed coupling compensation method reduces the interference of macromotor on micromotor by more than 80%. The method presented in this article achieves high-precision force sensing without reliance on traditional force sensors and has significant potential applications in the teleoperated detection of microforces.
Published in: IEEE Sensors Journal ( Volume: 25, Issue: 4, 15 February 2025)