Abstract
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.
