Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer
Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer
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DOI：
10.1109/tie.2013.2264788
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发表时间：
2014
影响因子：
7.7
通讯作者：
T. Nozaki;T. Mizoguchi;K. Ohnishi
中科院分区：
文献类型：
--
作者：
T. Nozaki;T. Mizoguchi;K. Ohnishi
本文将基于模态空间扰动观测器（MDOB）的对角化方法推广到多自由度系统。该方法的目的是抑制位置和力控制系统之间的干扰，实现双向控制系统。利用多自由度机械臂进行了实验验证。仿真结果表明，基于MDOB的解耦方法比斜坐标控制具有更好的性能。传统的斜坐标控制在建模误差大并且观测器的截止频率不足以改变系统动态的情况下引起振荡。另一方面，当质量差较大时，基于MDOB的解耦方法变得不稳定。
This paper extends the diagonalization method on the basis of the modal space disturbance observer (MDOB) for application to a multidegree-of-freedom (DOF) system. The aim of this method is to suppress the interference between the position and force control systems and realize a bilateral control system. The utility of the proposed method is experimentally verified by using a multi-DOF manipulator. It is confirmed that the MDOB-based decoupling method has better performance than oblique coordinate control. Conventional oblique coordinate control causes oscillation in cases where the modeling error is large and the cutoff frequency of an observer is not high enough to change the system dynamics. On the other hand, the MDOB-based decoupling method becomes unstable when the difference in mass is large.