The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Robust Impedance Control of High-DOF Robot Based on Disturbance Observer Considering Residual Disturbance

잔여외란을 고려한 외란관측기 기반 고자유도 로봇의 강인 임피던스제어

  • Kim, Junhyuk (Electrical Engineering, Changwon National University) ;
  • Park, Seungkyu (Electrical Engineering, Changwon National University) ;
  • Yoon, Taesung (Electrical Engineering, Changwon National University)
  • Received : 2020.12.02
  • Accepted : 2021.01.11
  • Published : 2021.02.26
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Abstract

This paper presents a robust impedance control of high-DOF robot based on disturbance observer(DOB). A novel DOB is derived by considering the residual disturbance caused by the difference between actual disturbance and disturbance decoupling input which utilizes the estimated disturbance. It focuses on the elimination of the residual disturbance and improvement of the control performance as well as the good estimation of disturbances. In the control of high-DOF robot, numerical dynamic model, which is conducted by a software based on dynamics, is utilized because the analytical model of high-DOF robot is difficult to be obtained. The simulation of high-DOF robot with numerical dynamic model is provided to verify the performance of the proposed controller.

Keywords

References

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