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http://dx.doi.org/10.6109/jkiice.2017.21.1.173

Robust Impedance Control of High-DOF Robot Based on ISMC and DOB  

Asignacion, Abner Jr. (Department of Electrical Engineering, Changwon National University)
Park, Seung-kyu (Department of Electrical Engineering, Changwon National University)
Kim, Min-chan (Department of Electrical Engineering, Changwon National University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.21, no.1, 2017 , pp. 173-179 More about this Journal
Abstract
This paper proposes a robust impedance controller for high-DOF robots. The model-based control of a higher DOF robot uses a numerical dynamic model because the analytical dynamic model is difficult to be derived and this means that modeling error is inevitable. The impedance control in the task space is affected by joint motions and has more difficulties in the higher DOF robots. In addition, the disturbances must be decoupled in the control of high DOF robot. This paper proposes a robust impedance controller based on integral sliding mode control (ISMC) and disturbance observer(DOB) for high-DOF robot manipulator. The ISMC is used to improve the robustness of the impedance control and to preserve its nominal performance. DOB is also employed to cancel the effects of input disturbances and to reduce the maximum gain of the ISMC which eventually determines the input chattering size.
Keywords
Impedance Control; Robust Control; Integral Sliding Mode; Disturbance Observer; High DOF robot;
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