Control of redundant manipulators considering order of disturbanceobserver

A manipulator control method using a disturbance observer with no inverse dynamics has been proposed. The order of the disturbance observer affects the performance of control system, because nominalization of plant is dependent on the control object and the order of the disturbance observer. This paper proposes a unique choice of disturbance observers of different order in joint and task space to improve system performance of hybrid position/force control of redundant manipulators. Also, it has been shown that a proper selection of a coefficient of the disturbance observer is capable to improve robust stability, while not influencing basic performance. The proposed strategy can realize acceleration control and second derivative of force control in the task space, which realizes robust and precise control of manipulators. Experimental results using a redundant manipulator show the effectiveness of the proposed strategy.