Robust control of flexible joint robots based on motor-side dynamics reshaping using disturbance observer (DOB)

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This paper proposes a robust control scheme based on a disturbance observer (DOB) for flexible joint robots. In this paper, the DOB is applied only on the motor-side dynamics of the robot, and the uncertainties on the motor-side are successfully eliminated. It is shown that, to guarantee the stability, the estimated motor-side position should be fed back into the controller, which is different from usual setup of the DOB. The experiments/simulations show that the estimated signal feedback indeed guarantees the stability, whereas the measured signal feedback does not.
Publisher
IEEE Robotics and Automation Society (RAS)
Issue Date
2014-09-15
Language
English
Citation

IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, pp.2381 - 2388

ISSN
2153-0858
DOI
10.1109/IROS.2014.6942885
URI
http://hdl.handle.net/10203/277792
Appears in Collection
EE-Conference Papers(학술회의논문)
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