NDLI: Torque sensor based robot arm control using disturbance observer

Content Provider	IEEE Xplore Digital Library
Author	Hosun Lee Yonghwan Oh Jae-Bok Song
Copyright Year	2010
Description	Author affiliation: Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea (Hosun Lee; Yonghwan Oh) \|\| School of Mechanical Engineering, Korea University, Seoul, Korea (Jae-Bok Song)
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.
Starting Page	1697
Ending Page	1700
File Size	981488
Page Count	4
File Format	PDF
ISBN	9781424474530
e-ISBN	9788993215021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-27
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	IEEE International Conference on Control & Automation
Subject Keyword	Torque Disturbance Observer Friction Flexible joint Torque control Observers Robot sensing systems Manipulators Torque sensor Joints
Content Type	Text
Resource Type	Article

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Torque sensor based robot arm control using disturbance observer