作業空間での大域的指数安定な非線形外乱オブザーバ

抄録

This paper presents a hybrid position/force control for environment by using a nonlinear disturbance observer. In general, force control is used with a force sensor. However, force sensors are relatively expensive and easily broken. Moreover, their signal is noisy, and limits system response. Disturbance observers are an attractive approach to improving control performance without additional measurement devices in robot controls. We have been proposed a nonlinear disturbance observer for robot manipulator. Experiments of a hybrid position/force control with the nonlinear disturbance observer are presented to show the effectiveness of the proposed disturbance observer.