Torque sensor based robot arm control using disturbance observer

Hosun Lee; Yonghwan Oh; Jae Bok Song

Torque sensor based robot arm control using disturbance observer

Hosun Lee, Yonghwan Oh, Jae Bok Song

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

In this paper, a robust torque control method is proposed for a robot arm which is equipped with joint torque sensor. The proposed controller is used to control the joint torque and make it to be equal with the torque controller reference input torque. A flexible joint robot model will be introduced to model the robot arm system. The disturbance observer scheme is used to reduce the disturbance effects on the system. The PI torque controller is implemented using the characteristics of disturbance observer. The performance of the proposed controller is demonstrated through experiments with a one degree of freedom robot arm.

Original language	English
Title of host publication	ICCAS 2010 - International Conference on Control, Automation and Systems
Pages	1697-1700
Number of pages	4
Publication status	Published - 2010
Event	International Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of Duration: 2010 Oct 27 → 2010 Oct 30

Publication series

Name	ICCAS 2010 - International Conference on Control, Automation and Systems

Other

Other	International Conference on Control, Automation and Systems, ICCAS 2010
Country/Territory	Korea, Republic of
City	Gyeonggi-do
Period	10/10/27 → 10/10/30

Keywords

Disturbance observer
Flexible joint
Torque control
Torque sensor

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering

Cite this

Torque sensor based robot arm control using disturbance observer. / Lee, Hosun; Oh, Yonghwan; Song, Jae Bok.
ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 1697-1700 5669771 (ICCAS 2010 - International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, H, Oh, Y & Song, JB 2010, Torque sensor based robot arm control using disturbance observer. in ICCAS 2010 - International Conference on Control, Automation and Systems., 5669771, ICCAS 2010 - International Conference on Control, Automation and Systems, pp. 1697-1700, International Conference on Control, Automation and Systems, ICCAS 2010, Gyeonggi-do, Korea, Republic of, 10/10/27.

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AB - In this paper, a robust torque control method is proposed for a robot arm which is equipped with joint torque sensor. The proposed controller is used to control the joint torque and make it to be equal with the torque controller reference input torque. A flexible joint robot model will be introduced to model the robot arm system. The disturbance observer scheme is used to reduce the disturbance effects on the system. The PI torque controller is implemented using the characteristics of disturbance observer. The performance of the proposed controller is demonstrated through experiments with a one degree of freedom robot arm.

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BT - ICCAS 2010 - International Conference on Control, Automation and Systems

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Y2 - 27 October 2010 through 30 October 2010

ER -

Torque sensor based robot arm control using disturbance observer

Abstract

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Keywords

ASJC Scopus subject areas

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