期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 31, 期 6, 页码 1508-1516出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2015.2477957
关键词
Disturbance observer (DOB); flexible joint robots (FJRs); impedance control; PD control
类别
资金
- Engineering Research Center [2011-0030075]
- Global Frontier R&D Program on Human-centered Interaction for Coexistence [2012M3A6A3056423]
This paper proposes a robust PD control scheme for flexible-joint robots based on a disturbance observer (DOB). In this paper, the DOB is applied only to the motor-side dynamics of the robot, and the uncertainties on the motor-side are successfully eliminated. It is shown that the proposed DOB-based approach guarantees global asymptotic stability. To this end, two special treatments are required. First, unlike the typical configuration of the DOB, nominal states of the motor-side are fed back to the PD controller. Second, a control input that makes the nominal states stable is additionally introduced. The proposed approach was verified using multi-degree-of-freedom experiments.
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