Abstract
Robust implementation of impedance control against modeling errors and disturbances is proposed. Deviation between desired impedance and actual impedance when applying the conventional method based on the computed torque is modeled as controlled impedance error. By estimating the controlled impedance error using a disturbance observer and compensating for this error with the usual feedback control, the desired impedance is realized while modeling errors and disturbances still exist. The proposed controller can be implemented easily on an actual robot manipulator because less computational burden is needed compared to conventional robust impedance control methods. The proposed controller was realized on a three-degree-of-freedom planar direct-drive manipulator, and its performance in peg-in-hole motion and damped oscillation motion was confirmed.
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