TASK SPACE OUTER-LOOP INTEGRATED DISTURBANCE OBSERVER AND ROBOT INCLUDING THE SAME

Abstract: the present disclosure relates to a task space outer-loop integrated disturbance observer, and a robot including the same. the task space outer-loop integrated disturbance observer is implemented on an outside of a position and velocity control loop in a task space, and the task space outer-loop integrated disturbance observer acquires a disturbance estimate value by integrating a velocity command value, measured velocity value, an inverse model of velocity control system, and a measured force/torque sensor (f/t sensor) value. the disturbance estimate value is expressed in equation 1: {circumflex over (d)}(s)=q(s)[(s)(s)−(s)]+a(s)[1−q(s)](s) wherein {circumflex over (d)}(s) is the disturbance estimate value, q(s) is a “q” filter, d(s) is a nominal model, v(s) is a measured velocity value, and v(s) is a velocity command value, a(s) is an admittance target value, and f(s) is a measured force value.

Inventor(s): Sehoon OH, Kangwagye SAMUEL, Bumgil KIM, Kunkook LEE

CPC Classification: B25J9/1633 ({compliant, force, torque control, e.g. combined with position control})

Search for rejections for patent application number 20250162144