外乱オブザーバを用いたトルク制御による直列弾性アクチュエータの高インピーダンス安全レンダリング
Safe rendering of high impedance on a series-elastic actuator with disturbance observer-based torque control
外乱オブザーバ（DOB）ベースのトルク制御が直列弾性アクチュエータの安全に実現できるインピーダンス範囲に与える影響を、受動性に基づく安定条件の提案と高剛性環境での実験で検証した論文。
著者: Kevin Haninger, Abner Asignacion, Sehoon Oh
分類: cs.RO
原文アブストラクト
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy, but their impact on safe impedance range is not established. However, to define a safe impedance range requires a practical coupled stability condition. Here, passivity-based conditions are proposed for two variants of DOB torque control, and validated experimentally in a high-stiffness environment. While high-gain PD torque control has been shown to reduce Z-width, it is here shown that a DOB reduces the need for high-gain PD feedback and allows a higher rendered impedance. A dynamic feedforward compensator is proposed which increases the maximum safe impedance of the DOB, validated in experimentally in collision with high-stiffness environments and manual excitation.
