Force estimation using piezoelectric actuator with adaptive control

This paper presents a method to estimate external force which is applied at the tip of a robotic arm. Piezoelectric actuator has been used as linear motor into this system and provide force estimation. The disturbance system has been divided into two parts: external force and design trajectory tracking. An external force is applied to the piezoelectric linear model to estimate current external force, without force sensor which is normally used in telesurgery or micro robotics. The displacement can be controlled by feedback signal from adaptive control to track the design trajectory tracking displacement. If the unknown parameters in this system, this adaptive controller can also approximate unknown parameters and make system stable. Sensorless force estimation is applied with four controllers to compare the results.