Force‐based disturbance observer for dynamic force control and a position/force hybrid controller
Force‐based disturbance observer for dynamic force control and a position/force hybrid controller
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用于动态力控制的基于力的干扰观测器和位置/力混合控制器
DOI：
10.1002/tee.21887
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发表时间：
2013
影响因子：
1
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
S. Sakaino;Tomoya Sato;K. Ohnishi
本文提出了一种基于力的扰动观测器（DOB）和利用DOB的力控制系统来实现扰动下的动态力控制。DOB可以减少干扰和建模误差对机器人的影响。在传统的DOB中，加速度响应被反馈到参考，从而实现高精度的位置控制。换句话说，通过强调惯性力的作用来减小扰动的影响。然而，当实施力控制器时，惯性力被视为对力响应的扰动。由于惯性力随加速度的增大而增大，传统的动位轴不适合动态力控制。在建议的DOB中，反馈的是力响应而不是加速度响应。从而消除了惯性力的影响，提高了力控制器的跟踪性能。通过分析和实验验证了该方法的有效性。提出了一种位置/力混合控制器和控制器的DOB，作为所提出的DOB的扩展。以双边控制器为例，对其跟踪性能进行了实验验证。©2013日本电气工程师学会。约翰·威利父子出版公司。
In this paper, a force‐based disturbance observer (DOB) and a force control system using the DOB are proposed to obtain dynamic force control under disturbances. A DOB can reduce the effect of disturbances and modeling errors on robots. In a conventional DOB, an acceleration response is fed back to a reference, enabling highly precise position control. In other words, the effect of disturbances is decreased by emphasizing the effect of inertial forces. When a force controller is implemented, however, inertial forces are regarded as disturbances respect to a force response. Because inertial forces increase according to the acceleration, conventional DOBs are not suitable for dynamic force control. In the proposed DOB, a force response is fed back instead of an acceleration response. The effect of inertial forces is thus eliminated, thereby improving the tracking performance of force controllers. The proposed method's validity is verified analytically and experimentally. A position/force hybrid controller and a DOB for the controller are proposed as an extension of the proposed DOB. A bilateral controller is given as an example of the proposed hybrid controller, and its tracking performance is demonstrated experimentally. © 2013 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.
影响因子：
7.7
作者：
K. Natori;K. Ohnishi
通讯作者：
K. Natori;K. Ohnishi