控制理论(社会学)
反冲
接触力
执行机构
被动性
理论(学习稳定性)
振动
扰动(地质)
鲁棒控制
运动控制
工程类
控制工程
计算机科学
控制系统
机器人
控制(管理)
物理
机械工程
声学
人工智能
古生物学
电气工程
量子力学
机器学习
生物
作者
Kangwagye Samuel,Kevin Haninger,Roberto Oboe,Sehoon Oh
出处
期刊:IEEE Transactions on Industrial Electronics
[Institute of Electrical and Electronics Engineers]
日期:2022-12-01
卷期号:70 (11): 11483-11494
被引量:11
标识
DOI:10.1109/tie.2022.3224189
摘要
For robotic tasks that involve combined transmitting and contact force control, achieving the high-performance motion control while ensuring stable environment contact is difficult. Among the factors that affect the quality of this force control, in this article, we may account vibrations due to misalignment in the mechanical components, actuator inaccuracies, nonlinear effects of friction, and backlash. All the above mentioned factors can be collectively considered as force disturbances. Toward high-performance motion control and contact stability, a novel integrated disturbance observer (DOB) (IDOB) is proposed. The IDOB uses force sensor measurements with position measurements and a plant model to isolate and robustly suppress the effects of force disturbances within the plant without compromising contact stability. This is applied here to a force control system to demonstrate the enhanced force control performance in free space and in contact. The passivity, robust stability, and disturbance rejection of the proposed IDOB are compared with those of existing force controllers, with and without force-based DOBs. Finally, actual experiments are conducted in free space and contact under various interaction conditions, showing that the IDOB improves transmitting force control and disturbance suppression performances. Moreover, peak collision force is reduced while maintaining contact stability with stiff environments.
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