External force observer and control for a compliant 2-DOF manipulator

External force observer and control for a compliant 2-DOF manipulator | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article External force observer and control for a compliant 2-DOF manipulator Ronald Aarts, Janset Dasdemir This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6567446/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 14 Nov, 2025 Read the published version in Multibody System Dynamics → Version 1 posted 10 You are reading this latest preprint version Abstract Force or torque control should ensure that a manipulator exerts a predefined force on its environment. In a compliant manipulator the deterministic behaviour of the system can be exploited to estimate this interaction force without a force sensor. In the paper we use a multibody model of a 2-DOF manipulator with flexure joints of which the physical parameters have been experimentally identified. It is shown that this model can be implemented quite straightforwardly in a force control system to apply a constant force on the environment while the end-effector is moving in both directions. Mathematics Subject Classification (2020) 70E55 Dynamics of multibody systems · 70Q05 Control of mechanical systems Flexure joints Parameter estimation External force observer Force control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 14 Nov, 2025 Read the published version in Multibody System Dynamics → Version 1 posted Editorial decision: Revision requested 21 Aug, 2025 Reviews received at journal 21 Aug, 2025 Reviews received at journal 18 Aug, 2025 Reviewers agreed at journal 01 Aug, 2025 Reviewers agreed at journal 29 Jul, 2025 Reviewers agreed at journal 08 May, 2025 Reviewers invited by journal 08 May, 2025 Editor assigned by journal 05 May, 2025 Submission checks completed at journal 01 May, 2025 First submitted to journal 30 Apr, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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