Decoupling strategy for position and force control based on modal space disturbance observer

Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

研究成果: Article査読

60 被引用数 (Scopus)

抄録

This paper extends the diagonalization method on the basis of the modal space disturbance observer (MDOB) for application to a multidegree-of-freedom (DOF) system. The aim of this method is to suppress the interference between the position and force control systems and realize a bilateral control system. The utility of the proposed method is experimentally verified by using a multi-DOF manipulator. It is confirmed that the MDOB-based decoupling method has better performance than oblique coordinate control. Conventional oblique coordinate control causes oscillation in cases where the modeling error is large and the cutoff frequency of an observer is not high enough to change the system dynamics. On the other hand, the MDOB-based decoupling method becomes unstable when the difference in mass is large.

本文言語English
論文番号6519317
ページ(範囲)1022-1032
ページ数11
ジャーナルIEEE Transactions on Industrial Electronics
61
2
DOI
出版ステータスPublished - 2014

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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