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SUMMARY: In human–robot cooperative industrial manipulators, safety issues are crucial. To control force safely, contact force information is necessary. Since force/torque sensors are expensive and hard to integrate into the robot design, estimation methods are used to estimate external forces. In this paper, the goal is to estimate external forces acting on the end-effector of the robot. The forces at the task space affect the joint space torques. Therefore, by employing an observer to estimate the torques, the task space forces can be obtained. To accomplish this, loadcells are employed to compute the net torques at the joints. The considered observers are extended Kalman filter (EKF) and nonlinear disturbance observer (NDOB). Utilizing the computed torque obtained based on the loadcells measurements and the observer, the estimates of external torques applied on the robot end-effector can be achieved. Moreover, to improve the degree of safety, an algorithm is proposed to distinguish between intentional contact force from an operator and accidental collisions. The proposed algorithms are demonstrated on a robot, namely WallMoBot, which is designed to help the operator to install heavy glass panels. Simulation results and preliminary experimental results are presented to demonstrate the effectiveness of the proposed methods in estimating the joint space torques generated by the external forces applied to the WallMoBot end-effector and to distinguish between the user-input force and accidental collisions. [ABSTRACT FROM AUTHOR]

Switched systems are an important class of hybrid systems. In recent years, such systems have drawn considerable attentions in control field. A switched fuzzy system is a switching system, for which all subsystems are fuzzy systems. This paper investigates the robust state estimation problem for a class of uncertain switched fuzzy systems with timevarying delays. By using appropriate switched Lyapunov functional approach, average dwell time scheme and H filtering theory, delay dependent sufficient conditions for the solvability of this problem are stablished in terms of linear matrix inequalities (LMIs). An illustrative example is provided to show the effectiveness of the proposed theoretical results. [ABSTRACT FROM AUTHOR]