Performance Comparison of Position Controlled Robotic Stage When Force- and Position-Based Disturbance Observers are Implemented

Position control of the robotic stage when position-based and force-based disturbance observers (DOB) are implemented and their performances compared is presented in this paper. Implementation of the DOBs is aimed at improving the quality of force control by suppressing the disturbances within and into the robot mechanical system. This is because the accuracy of position control is of paramount importance since bad position control affects the reproducibility of the position perturbation which in-turn affects the production of reliable force readings for balance assessment function with the robotic stage. The overall control and disturbance suppression performance is analyzed and compared for all the control strategies. Simulations and experiments are conducted to evaluate the position control strategies. Moreover, the obtained reaction force recorded when the DOB-based position control strategies are utilized is also analyzed to point out their differences which are caused by the designed controllers.

Automated summary

This paper presents the position control of the robotic stage with position-based and force-based disturbance observers (DOB) implemented, aiming to improve force control quality by suppressing disturbances within and into the mechanical system. The accuracy of position control is crucial as it affects the reproducibility of position perturbation and the reliability of force readings. Simulation and experiments are conducted to evaluate the position control strategies and analyze the differences in reaction force when using DOB-based position control strategies.