University of Twente Student Theses


Developing an energy observer for energy bookkeeping

Euving, E.J. (2017) Developing an energy observer for energy bookkeeping.

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Abstract:Robots designed to physically interact with humans, such as the SEP, must be guaranteed to be stable. Proper control is necessary as an unstable robot is a dangerous robot. Given that passive systems are inherently stable, an active system such as the SEP could be made stable through passivity control. Passivity control requires proper energy bookkeeping to function correctly, but due to the lack of required sensors, energy bookkeeping is currently not possible with the SEP. An energy observer was developed to enable energy bookkeeping for the SEP. By taking the available measurements and a model of the SEP, the energy observer is able to give an estimation of the exchanged energy. Any estimation will be affected by the uncertainty of the model parameters and the EO accounts for this by transforming the probability density functions of the parameters to the energy estimation, giving a new probability density function for the estimated energy. How parameter uncertainty affects the distribution of the estimated energy was assessed with simulations and with experiments with the physical SEP. The results show that for different parameter uncertainty ranges, the probability density function for the estimated energy also changed in shape and range. In the simulations the energy observer was validated using the real exchanged energy, but measurement errors meant that this was not possible for the experiments.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Biomedical Engineering MSc (66226)
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