Torque sensor based robot arm control using disturbance observer
Torque sensor based robot arm control using disturbance observer
复制标题
使用扰动观测器进行基于扭矩传感器的机器人手臂控制
DOI：
10.1109/iccas.2010.5669771
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Jae
中科院分区：
文献类型：
--
作者：
Hosun Lee;Yonghwan Oh;Jae
针对装有关节力矩传感器的机械臂，提出了一种鲁棒的力矩控制方法。该控制器用于控制关节力矩，使其与力矩控制器的参考输入力矩相等。将引入柔性关节机器人模型来对机器人手臂系统进行建模。采用扰动观测器方案，减小了扰动对系统的影响。利用扰动观测器的特性，实现了PI转矩控制器。通过单自由度机械臂的实验验证了所提出的控制器的性能。
In this paper, a robust torque control method is proposed for a robot arm which is equipped with joint torque sensor. The proposed controller is used to control the joint torque and make it to be equal with the torque controller reference input torque. A flexible joint robot model will be introduced to model the robot arm system. The disturbance observer scheme is used to reduce the disturbance effects on the system. The PI torque controller is implemented using the characteristics of disturbance observer. The performance of the proposed controller is demonstrated through experiments with a one degree of freedom robot arm.