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This paper proposes a force sensing method with periodic component extraction based on Kalman filter algorithm. In a ball-screw system exhibiting high friction, a dither is inserted to the desired reference signal to eliminate the effect of friction. The force estimation by a disturbance observer is integrated with the force estimation by Kalman filter to construct the force sensation with effective...
Sensorless force sensation by disturbance observer has been widely employed in numerous applications due to its superiority to the measurement by a force sensor. This paper introduces the development of the disturbance observer to obtain the high performance force sensing with a wideband force sensation. In this paper, a multi-sensor data fusion by Kalman-filter algorithm is exploited for velocity...
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