외란 오브저버에의한 작업좌표공간에서의 다이렉트 드라이브 로보트의 위치와 힘의 하이브리드 제어

Hybrid Position/Force Control of Direct Drive Robots by Disturbance Observer in Task Coordinate Space.

This paper proposes a simple and high performance hybrid position/force control of robots based on disturbance compensation by using the disturbance observer in task coordinate space. The disturbance observer linealizes system of robot manipulators in task coordinate space and realizes acceleration control. To realize the strict acceleration control, the disturbance observer whose input is a position signal by simple computation, works as if it were a disturbance detector. The inverse kinematics can be simplified, because the disturbance observer in task coordinate space compensates not only the disturbance but also the error due to the simplification of the inverse kinematics. The new strategy is applied to a three-degrees-of freedom direct drive robot. The robust and simple hybrid position/force control is realized experimentally.