Adaptive Trajectory Control Design for Bilateral Robotic Arm with Enforced Sensorless and Acceleration based Force Control Technique

This study offers an approach for tackling the issue of instability on the computed force generated on a joint of a robotic arm by improving the model of a bilateral master-slave haptic system with an adaptive technique known as Reaction Force Observer (RFOB). The purpose of recommended modelling is to correct unsought signals coming from the employed standard controller and the surroundings produced within the moving joint of the articulated robotic arm. RFOB is employed to adjust the signal interference by modifying its position response to obtain the desired final location. The investigation and observation were carried out in two separate tests to evaluate the outcomes of the recommended integration technique with the former system that only enforced Disturbance Observer (DOB). Generated feedbacks produced from the organised experiments are measured inside a simulation platform. All numerical records and signal charts illustrate the durability of the proposed method since the system integrated with acceleration-based force control is more precise and quicker.