Workspace Force/Acceleration Disturbance Observer for Combined Motion/Impedance/Force Control
- Title
- Workspace Force/Acceleration Disturbance Observer for Combined Motion/Impedance/Force Control
- Author(s)
- Wooseok Han
- DGIST Authors
- Wooseok Han ; Sehoon Oh ; Jaeheung Park
- Advisor
- 오세훈
- Co-Advisor(s)
- Jaeheung Park
- Issued Date
- 2023
- Awarded Date
- 2023-02-01
- Type
- Thesis
- Description
- Disturbance observer, Hybrid control, Impedance control, motion control, Force control
- Table Of Contents
-
. Introduction 1
II. Problem Formulation 4
2.1. Manipulator Dynamics 4
2.2. Disturbance and Model Uncertainty in Impedance-based Motion Control 4
2.3. Limitation of Conventional WSDOB in Impedance-based Motion Control 7
III. Robust-Safe Motion Control and Force Control with Workspace Force and Acceleration Disturbance Observer 9
3.1. Workspace Force-Acceleration Disturbance Observer for Impedance-based Motion Control 9
3.2. Workspace Force-Acceleration Disturbance Observer for Force Tracking Impedance Control 11
IV. Performance Verification through Simulation 13
4.1. Simulation of Position Tracking Performance and Contact Behavior in Impedance-based Motion Control 13
4.2. Simulation of Performance of External Force Response under Model Uncertainty in Impedance-based Motion Control 16
4.3. Simulation of Performance of Force Control in Force Tracking Impedance Control 18
V. Experimental Verification 19
5.1. Experiment Condition 19
5.2. Experiment of Performance of Position Tracking Performance and Contact Behavior in Impedance-based Motion Control 19
5.3. Experiment of Performance of External Force Response in Impedance-based Motion Control 22
5.4. Experiment of Performance of Force Control in Force Tracking Impedance Control 23
VI. Conclusion 25
- URI
-
http://hdl.handle.net/20.500.11750/45782
http://dgist.dcollection.net/common/orgView/200000656420
- Degree
- Master
- Publisher
- DGIST
- Related Researcher
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Oh, Sehoon
- Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
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