Force-based disturbance observer for dynamic force control and a position/force hybrid controller

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

In this paper, a force-based disturbance observer (DOB) and a force control system using the DOB are proposed to obtain dynamic force control under disturbances. A DOB can reduce the effect of disturbances and modeling errors on robots. In a conventional DOB, an acceleration response is fed back to a reference, enabling highly precise position control. In other words, the effect of disturbances is decreased by emphasizing the effect of inertial forces. When a force controller is implemented, however, inertial forces are regarded as disturbances respect to a force response. Because inertial forces increase according to the acceleration, conventional DOBs are not suitable for dynamic force control. In the proposed DOB, a force response is fed back instead of an acceleration response. The effect of inertial forces is thus eliminated, thereby improving the tracking performance of force controllers. The proposed method's validity is verified analytically and experimentally. A position/force hybrid controller and a DOB for the controller are proposed as an extension of the proposed DOB. A bilateral controller is given as an example of the proposed hybrid controller, and its tracking performance is demonstrated experimentally.

Original languageEnglish
Pages (from-to)505-514
Number of pages10
JournalIEEJ Transactions on Electrical and Electronic Engineering
Volume8
Issue number5
DOIs
Publication statusPublished - 2013 Sep

Fingerprint

Force control
Controllers
Position control
Robots
Control systems

Keywords

  • Bilateral control
  • Disturbance observer
  • Force control
  • Oblique coordinate control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Force-based disturbance observer for dynamic force control and a position/force hybrid controller. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.

In: IEEJ Transactions on Electrical and Electronic Engineering, Vol. 8, No. 5, 09.2013, p. 505-514.

Research output: Contribution to journalArticle

@article{1cf9ac9bf1fa4f44b11a396381f790af,
title = "Force-based disturbance observer for dynamic force control and a position/force hybrid controller",
abstract = "In this paper, a force-based disturbance observer (DOB) and a force control system using the DOB are proposed to obtain dynamic force control under disturbances. A DOB can reduce the effect of disturbances and modeling errors on robots. In a conventional DOB, an acceleration response is fed back to a reference, enabling highly precise position control. In other words, the effect of disturbances is decreased by emphasizing the effect of inertial forces. When a force controller is implemented, however, inertial forces are regarded as disturbances respect to a force response. Because inertial forces increase according to the acceleration, conventional DOBs are not suitable for dynamic force control. In the proposed DOB, a force response is fed back instead of an acceleration response. The effect of inertial forces is thus eliminated, thereby improving the tracking performance of force controllers. The proposed method's validity is verified analytically and experimentally. A position/force hybrid controller and a DOB for the controller are proposed as an extension of the proposed DOB. A bilateral controller is given as an example of the proposed hybrid controller, and its tracking performance is demonstrated experimentally.",
keywords = "Bilateral control, Disturbance observer, Force control, Oblique coordinate control",
author = "Sho Sakaino and Tomoya Sato and Kouhei Ohnishi",
year = "2013",
month = "9",
doi = "10.1002/tee.21887",
language = "English",
volume = "8",
pages = "505--514",
journal = "IEEJ Transactions on Electrical and Electronic Engineering",
issn = "1931-4973",
publisher = "John Wiley and Sons Inc.",
number = "5",

}

TY - JOUR

T1 - Force-based disturbance observer for dynamic force control and a position/force hybrid controller

AU - Sakaino, Sho

AU - Sato, Tomoya

AU - Ohnishi, Kouhei

PY - 2013/9

Y1 - 2013/9

N2 - In this paper, a force-based disturbance observer (DOB) and a force control system using the DOB are proposed to obtain dynamic force control under disturbances. A DOB can reduce the effect of disturbances and modeling errors on robots. In a conventional DOB, an acceleration response is fed back to a reference, enabling highly precise position control. In other words, the effect of disturbances is decreased by emphasizing the effect of inertial forces. When a force controller is implemented, however, inertial forces are regarded as disturbances respect to a force response. Because inertial forces increase according to the acceleration, conventional DOBs are not suitable for dynamic force control. In the proposed DOB, a force response is fed back instead of an acceleration response. The effect of inertial forces is thus eliminated, thereby improving the tracking performance of force controllers. The proposed method's validity is verified analytically and experimentally. A position/force hybrid controller and a DOB for the controller are proposed as an extension of the proposed DOB. A bilateral controller is given as an example of the proposed hybrid controller, and its tracking performance is demonstrated experimentally.

AB - In this paper, a force-based disturbance observer (DOB) and a force control system using the DOB are proposed to obtain dynamic force control under disturbances. A DOB can reduce the effect of disturbances and modeling errors on robots. In a conventional DOB, an acceleration response is fed back to a reference, enabling highly precise position control. In other words, the effect of disturbances is decreased by emphasizing the effect of inertial forces. When a force controller is implemented, however, inertial forces are regarded as disturbances respect to a force response. Because inertial forces increase according to the acceleration, conventional DOBs are not suitable for dynamic force control. In the proposed DOB, a force response is fed back instead of an acceleration response. The effect of inertial forces is thus eliminated, thereby improving the tracking performance of force controllers. The proposed method's validity is verified analytically and experimentally. A position/force hybrid controller and a DOB for the controller are proposed as an extension of the proposed DOB. A bilateral controller is given as an example of the proposed hybrid controller, and its tracking performance is demonstrated experimentally.

KW - Bilateral control

KW - Disturbance observer

KW - Force control

KW - Oblique coordinate control

UR - http://www.scopus.com/inward/record.url?scp=84881609009&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84881609009&partnerID=8YFLogxK

U2 - 10.1002/tee.21887

DO - 10.1002/tee.21887

M3 - Article

VL - 8

SP - 505

EP - 514

JO - IEEJ Transactions on Electrical and Electronic Engineering

JF - IEEJ Transactions on Electrical and Electronic Engineering

SN - 1931-4973

IS - 5

ER -