외란관측기를 이용한 양팔 로봇의 상대 임피던스 제어기 설계

Abstract

This paper studies the cooperative control of a dual-arm robot in the presence of system uncertainty and disturbance. Since system uncertainty and disturbance are major factors that directly affect control performance, effectively compensating for disturbance and uncertainty is important to improve the controller performance. In particular, if a dual-arm robot performs a cooperative task, interaction with the environment or other arm inevitably occurs. Since it is very difficult to model disturbances caused by external factors accurately, the robustness of the controller is highly required to achieve the task goal. In this paper, we propose a relative impedance control method based on the disturbance observer of a dual-arm robot to compensate for the disturbance and to enable the robot to achieve a given task. The proposed controller compensates a lumped disturbances including disturbances, environmental and system model uncertainties by using a disturbance observer scheme. This compensated system exhibits similar behavior to the preselected nominal model, allowing the dual-arm robot to achieve its task through relative impedance control. The performance of the proposed controller is verified through numerical experiments in a physics engine-based simulator.