抄録
This paper deals with a control method to follow the reference signals of the position and the contact force for the two-link manipulator. The virtual impedance control method improves the control performance by considering the virtual springs and the dampers in x-direction and y-direction. However, the manipulator is received the effect of the friction when the two-link manipulator pushes the wall and moves on the contact surface. This problem makes worse in the performance of the control system. In this study, the disturbance observer is installed in LQI control system, and the simulations are done. As a result, input torques is improved. And the two-link manipulator follows the reference signals of the position and the contact force.
