A high-performance inner position controller and accurate interaction torque sensing capability are essential for the admittance control of the flexible joint. To achieve this, most of the prior works use the lumped disturbance observer based on a single encoder with an installed force sensor. This brings a burden to system integration. In this paper, a novel dual-disturbance observer based on dual-encoder feedback is proposed on top of the conventional feedforward and feedback composite control, so that the friction and external torque are estimated and compensated separately. Better disturbance rejection ability is achieved with the proposed inner-loop position controller. In addition, the estimated external torque is fed into the admittance controller, thereby achieving compliant control of the flexible joint without the torque sensor. Real-time experiments are performed to demonstrate the practical appeal of the proposed method.
Admittance Control of Flexible Joint with Dual-Disturbance Observer
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
11 pages
Article/Chapter (Book)
Electronic Resource
English
Flexible joint , Admittance control , Disturbance observer , Force estimation Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
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