Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Collision Detection and Control of Single-link Flexible Arm Using Optimal Disturbance Decoupling and Kalman Filters
Yuichi SawadaAtsushi MoritaniTatsuya FujimotoAkio Tanikawa
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2012 Volume 25 Issue 11 Pages 336-341


This paper describes a method using coupled state estimators for collision detection and control of a single-link flexible arm. To improve the control performance of the flexible arm with an innovation-based collision detection system when unobserved obstacles collide with the arm’s side, we introduce an Optimal Disturbance Decoupling Filter that decouples undesired collision force effects from the estimation error. The controller generates a control torque based on the state estimate by using the Optimal Disturbance Decoupling Filter. Collision detection is then realized through the innovation of a Kalman filter. The proposed system prevents deterioration of the control performance when collision occurs.

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© 2012 The Institute of Systems, Control and Information Engineers
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