Force estimation by using a Sliding Perturbation Observer
The industrial robot basically needs a force data doing the force control. One of the typical method getting the force data is attaching force sensors on a robot's arm. This is effective and simple way to get the force data but this method has problems. To solve the problem, this research suggests a method which measures force data by using the sliding perturbation observer(SPO) without force sensor.
Balancing Control of a Ball Robot based on an Inverted Pendulum
This research is to do balancing control about a ball robot which has a four axis structure and four motors that directly actuate the ball to move and to maintain the balance of the robot by using omni wheels. Getting the balance, a tilt angle is measured by IMU sensors, which is used to generate a control input of the roll and pitch controller to make the tilt angle zero.