Force sensor measurement noises and mechanical disturbances make realization of stable and robust force control systems challenging. With regard to this, a precise force control system that implements a combination of force and disturbance observers (DOBs) is proposed in this brief. The observers are a reduced-order multisensor-based force observer (RMFOB) to attenuate sensor measurement noises and a model-based force DOB (FDOB) to suppress the effects of mechanical disturbances. These are combined in a closed-loop setting to form a twofold observer-based precise force control system. A novel systematic tuning criterion for the RMFOB and FDOB cutoff frequencies utilizing sensor noise and force disturbance intensities derived from the proposed closed-loop system is developed. In addition, analysis of robust stability against nonlinearity and parameter variations of the proposed system is conducted using RMFOB cutoff frequency. Finally, effectiveness of the proposed method is verified by theoretical analyses, simulations, and experiments. IEEE
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