自己共振相殺制御と自己共振相殺外乱オブザーバを用いたロバスト共振抑制制御とそのヒューマノイドロボットへの適用

抄録

A plant needs to be modeled with two inertia systems: to consider the spring element of the transmission due to the improved kinematic performance of a humanoid robot and to introduce a resonance suppression control. However, previous resonance suppression controls are not robust against modeling error and are difficult to apply to a humanoid robot. In this paper, we present a robust resonance suppression control for the modeling error of two inertia systems; we developed a self resonance cancellation control (SRC) and self resonance cancellation disturbance observer (SRCDOB) and applied them to a humanoid robot.