Department of Electrical and Computer Engineering, National University of Singapore, Singapore.
Temasek Laboratories, National University of Singapore, Singapore.
ISA Trans. 2017 Jan;66:476-484. doi: 10.1016/j.isatra.2016.09.015. Epub 2016 Oct 13.
The disturbance observer is one of the useful tools for estimating the contact force between the subject body and the environment in robotic and mechatronic systems. This paper introduced a novel automatic office-based ear surgical device for the treatment of Otitis Media with Effusion (OME) under the guidance of force sensing information. Since the force sensing information must be reliable so as to ensure the safety of the device, a contact force estimation method based on the disturbance observer is proposed. The system model is built and a control strategy is proposed and developed. In the control strategy, a composite motion controller for an ultrasonic motor (USM) stage is presented, and then the design and the stability analysis of an advanced disturbance observer is given. Furthermore, a contact estimator and a failure detector, aiming to enhance the safety and reliability enhancement, are designed. Finally, the proposed control strategy is studied with both simulation and experiment. The experimental results show that the advanced disturbance observer can estimate the actual contact force correctly and precisely, and the disturbance observer based force estimation and failure detection method is feasible which can be used in force sensing, contact detection and fault diagnosis.
干扰观测器是机器人和机电系统中估计主体与环境之间接触力的有用工具之一。本文介绍了一种新颖的基于自动办公的耳部手术设备，用于在力感测信息的指导下治疗分泌性中耳炎（OME）。由于力感测信息必须可靠，以确保设备的安全性，因此提出了一种基于干扰观测器的接触力估计方法。建立了系统模型，并提出并开发了一种控制策略。在控制策略中，提出了一种超声电机（USM）工作台的复合运动控制器，然后给出了先进干扰观测器的设计和稳定性分析。此外，设计了接触估计器和故障检测器，旨在提高安全性和可靠性。最后，通过仿真和实验研究了所提出的控制策略。实验结果表明，先进的干扰观测器可以正确、精确地估计实际接触力，基于干扰观测器的力估计和故障检测方法是可行的，可用于力感测、接触检测和故障诊断。
