Filtered Disturbance Observer for High Backdrivable Robot Joint
Filtered Disturbance Observer for High Backdrivable Robot Joint
复制标题
高反向驱动机器人关节的滤波干扰观测器
DOI：
10.1109/iecon.2018.8591188
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Taro Takahashi
中科院分区：
文献类型：
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作者：
Akiyuki Hasegawa;H. Fujimoto;Taro Takahashi
协作机器人是可以在共享工作空间中与人类一起工作的机器人。协作机器人有望提高生产力并弥补工作人口的短缺。为了与外部环境安全接触，反向驱动能力是必要的。为了获得高反向驱动能力，我们开发了一种带有关节扭矩传感器或负载侧编码器的机器人。需要有效使用传感器并提高协作机器人性能的控制方法。众所周知，扰动观测器（DOB）可以增强扰动抑制性能。干扰抑制可以通过消除接触力的影响来提高反向驱动能力。然而，简单的 DOB 无法提高机器人关节等两质量系统的扰动抑制性能。在本文中，我们提出了一种通过考虑两质量系统结构的简单滤波器设计来显着增强反向驱动能力的方法。通过仿真和实验评估了所提出方法的性能。
A collaborative robot is a robot that can work with humans in a shared workspace. It is expected that collaborative robots improve productivity and compensate for the shortage of working population. To make safe contact with the external environment, back-drivability is necessary. For high back-drivability, a robot with a joint torque sensor or a load-side encoder has been developed. Control methods using sensors effectively and improving collaborative robots performance are needed. It is known that disturbance suppression performance can be enhanced by disturbance observer (DOB). Disturbance suppression can make back-drivability higher by eliminating the effect of the contact force. However, a simple DOB cannot improve the disturbance suppression performance for a two-mass system like a robot joint. In this paper, we propose a method to enhance back-drivability significantly by simple filter design considering the structure of a two-mass system. The performance of the proposed method is evaluated by simulation and experiment.