Abstract
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.
Supported by in part the National Key Research and Development Program of China under Grant 2022YFB4702500 and in part National Natural Science Foundation of China under grant U20A20282, U21A20121, 92048201, and U1913214.
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Wan, H., Chen, S., Zhang, C., Chen, CY., Yang, G. (2023). Admittance Control of Flexible Joint with Dual-Disturbance Observer. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_17
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