DISTURBANCE OBSERVER INTEGRATED WITH OUTER-LOOP FOR WORKSPACE, AND ROBOT INCLUDING SAME

Abstract

Provided are a disturbance observer integrated with an outer-loop for a workspace, and a robot including same. The disturbance observer is implemented outside a position and velocity control loop within a workspace, and integrates a velocity command value, a velocity measurement value, an inverse model of a velocity control system, and a force/torque sensor (F/T sensor) measurement value to obtain a disturbance estimation value, wherein the disturbance estimation value is expressed by the following equation. D^v(s) is a disturbance estimation value, Q(s) is a Q filter, Dn(s) is a nominal model, Vm(s) is a velocity measurement value, Vi(s) is a velocity command value, A(s) is an admittance target value, and Fm(s) is a force measurement value.