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Workspace Force/Acceleration Disturbance Observer for Precise and Safe Motion Control

Title
Workspace Force/Acceleration Disturbance Observer for Precise and Safe Motion Control
Author(s)
Han, WooseokYun, WonbumOh, Sehoon
Issued Date
2023-10-01
Citation
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4450 - 4456
Type
Conference Paper
ISBN
9781665491907
ISSN
2153-0866
Abstract
The use of impedance control has become widespread in applications requiring simultaneous position tracking and compliance in contact. However, disturbances such as friction and model uncertainties can adversely affect the performance of impedance-based motion control. The disturbance observer (DOB) has been proposed to address this issue, which is a widely-utilized robust controller that eliminates observed disturbances with the nominal model. However, current DOB applications fail to consider the aspect of interactive force control properly. This study proposes a novel Workspace Force/Acceleration Disturbance Observer (WFADOB) controller, which utilizes both interaction force and acceleration to design a disturbance observer loop, enabling precise motion tracking even with low-impedance gain settings. Additionally, the proposed controller offers fine impedance rendering performance, offering safe contact while maintaining low impedance. This paper discusses the problem of motion tracking performance due to friction and the interaction force that arises during contact. The proposed controller is theoretically analyzed and experimentally verified, demonstrating its performance compared to conventional methods. © 2023 IEEE.
URI
http://hdl.handle.net/20.500.11750/47923
DOI
10.1109/IROS55552.2023.10341933
Publisher
IEEE Robotics and Automation Society, The Robotics Society of Japan
Related Researcher
  • 오세훈 Oh, Sehoon 로봇및기계전자공학과
  • 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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Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 2. Conference Papers

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