An Approach of Load-Side Disturbance Rejection Control for Series Elastic Actuators

被引：0

作者：

Hiraoka, Atsushi ^{[1
]}

Murakami, Toshiyuki ^{[2
]}

机构：

[1] Keio Univ, Grad Sch Sci & Engn, Yokohama, Kanagawa, Japan

[2] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa, Japan

来源：

2022 IEEE 17TH INTERNATIONAL CONFERENCE ON ADVANCED MOTION CONTROL (AMC) | 2022年

关键词：

Series elastic actuator (SEA); load-side disturbance rejection; resonance ratio control (RRC); load-side disturbance observer (LDOB); physical human-robot interaction (pHRI); ROBUST;

D O I：

10.1109/AMC51637.2022.9729257

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a load-side disturbance rejection method to deal with time-varying load-side disturbance for series elastic actuators (SEA). In the position control of SEA, load-side disturbance rejection problem is not trivial. As a conventional method, load disturbance observer (LDOB) was proposed to feedback the estimated load-side disturbance. However, this method does not fully deal with large and time-varying load-side disturbance caused by human contact. In this paper, we propose an extension of LDOB algorithm to estimate the derivative of the load-side disturbance. Feedback of the derivative of estimated load-side disturbance can improve the load-side disturbance rejection performance. The numerical simulation and the experiment results show the effectiveness of the proposed method.

引用

页码：18 / 23

页数：6

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