Disturbance Observer-Based Force Estimation and Fault Detection for Robotic Manipulator in Radioactive Environments

Robotic systems with force sensing have great potential for use in radioactive environments. In this study, a modified observer-based method was developed to calculate the unknown external without adding redundant sensor and achieve fault detection presence of sensor. A dynamic model serial robotic manipulator built design procedure disturbance observer (MDO) established. The output then used suppress generate signature. Moreover, stability analysis shows that convergence error is ultimately bounded. Simulation results under step composite sinusoidal torque demonstrate performance estimation rejection. results, obtained using Kinova Jaco2 robot manipulator, show estimated errors X-Y-Z direction are bounded within ±0.5 N, ±2 ±3 respectively. Finally, effectiveness also verified by experiment results.