Force control of redundant manipulators considering order of disturbance observer

A robot control method using a disturbance observer and with no inverse dynamics has been proposed. The selection of the order of the disturbance observer is important depending on the control object. This paper proposes a unique choice of disturbance observers of different order in joint and task space to improve the system performance of the hybrid position/force control of redundant manipulators. Also it has been shown that proper selection of a coefficient is capable of improving system robustness, while not influencing the basic performance. Experimental results using a redundant manipulator show the effectiveness of the proposed strategy