Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer

Nozaki; T.; Mizoguchi; T.; Ohnishi; K.

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Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer

机译：基于模态空间扰动观测器的位置与力控制解耦策略

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This paper extends the diagonalization method on the basis of the modal space disturbance observer (MDOB) for application to a multidegree-of-freedom (DOF) system. The aim of this method is to suppress the interference between the position and force control systems and realize a bilateral control system. The utility of the proposed method is experimentally verified by using a multi-DOF manipulator. It is confirmed that the MDOB-based decoupling method has better performance than oblique coordinate control. Conventional oblique coordinate control causes oscillation in cases where the modeling error is large and the cutoff frequency of an observer is not high enough to change the system dynamics. On the other hand, the MDOB-based decoupling method becomes unstable when the difference in mass is large.

机译：本文在模态空间扰动观测器（MDOB）的基础上扩展了对角化方法，以应用于多自由度（DOF）系统。该方法的目的是抑制位置和力控制系统之间的干扰并实现双向控制系统。通过使用多自由度机械手实验验证了该方法的实用性。可以证实，基于MDOB的解耦方法比倾斜坐标控制具有更好的性能。在建模误差大且观察者的截止频率不足以改变系统动力学的情况下，传统的斜坐标控制会引起振荡。另一方面，当质量差大时，基于MDOB的去耦方法变得不稳定。

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来源
《IEEE Transactions on Industrial Electronics》 |2014年第2期|1022-1032|共11页
作者
Nozaki; T.; Mizoguchi; T.; Ohnishi; K.;
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作者单位

Ohnishi Laboratory, Department of System Design Engineering, Keio University , Yokohama, Japan|c|;

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正文语种 eng
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关键词
Acceleration control; bilateral control; disturbance observer (DOB); haptics; master–slave robot system; motion control;

机译：加速度控制;双边控制;干扰观察者（DOB）;触觉;主从机器人系统;运动控制;

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1. A decoupling controller design and analysis of multilateral control using disturbance observer in modal space [J] . Shunsuke Yajima, Seiichiro Katsura Advanced Robotics: The International Journal of the Robotics Society of Japan . 2013,第1a2期

机译：模态空间中基于扰动观测器的多边控制解耦控制器设计与分析
2. Position and Force Control of the SCARA Robot Based on Disturbance Observer [J] . Niphun Surapong, Chowarit Mitsantisuk Procedia Computer Science . 2016,第1期

机译：基于扰动观测器的SCARA机器人的位置和力控制
3. Precise Position/Force Hybrid Control With Modal Mass Decoupling and Bilateral Communication Between Different Structures [J] . Sakaino S., Sato T., Ohnishi K. Industrial Informatics, IEEE Transactions on . 2011,第2期

机译：具有模态质量解耦和不同结构之间的双向通讯的精确位置/力混合控制
4. Position/force decoupling for micro-macro bilateral control based on modal space disturbance observer [C] . Nozaki Takahiro, Mizoguchi Takahiro, Ohnishi Kouhei Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on . 2012

机译：基于模态空间扰动观测器的微宏双向控制位置/力解耦
5. Disturbance observer based robot control with applications to force control. [D] . Bickel, Robert James. 1996

机译：基于干扰观察者的机器人控制及其在力控制中的应用。
6. Continuous uniformly finite time exact disturbance observer based control for fixed-time stabilization of nonlinear systems with mismatched disturbances [O] . Junkang Ni, Chongxin Liu, Hang Liu -1

机译：基于连续一致有限时间精确干扰观测器的非线性系统的时滞稳定控制
7. Decoupling Control of Nonlinear Systems Using Disturbance Observer. Decoupling Control of DD Robot in Task Space. [O] . Hsin-Nan Lin, Yasuaki Kuroe, Toru Maruhashi 1995

机译：利用干扰观测器的非线性系统去耦控制。任务空间中DD机器人的解耦控制。
8. Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators. [R] . Mehling, J. S., Holley, J., OMalley, M. K. 2015

机译：利用基于扰动观测器的转矩控制改进串联弹性作动器的阻抗渲染。

Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer

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