Torque sensor based robot arm control using disturbance observer

Hosun Lee, Yonghwan Oh, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 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 languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages1697-1700
Number of pages4
Publication statusPublished - 2010
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

Keywords

  • Disturbance observer
  • Flexible joint
  • Torque control
  • Torque sensor

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Lee, H., Oh, Y., & Song, J. B. (2010). Torque sensor based robot arm control using disturbance observer. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 1697-1700). [5669771] (ICCAS 2010 - International Conference on Control, Automation and Systems).