| Title |
Hybrid Position-Force Control of Robot Manipulator via Model Predictive Control Combined with Disturbance Observer |
| Authors |
이승민(Seungmin Lee) ; 유제휘(Jehwi Yoo) ; 백주훈(Juhoon Back) |
| DOI |
https://doi.org/10.5370/KIEE.2022.71.1.164 |
| Keywords |
Disturbance Observer; Model Predictive Control; Hybrid Position-Force Control |
| Abstract |
When model predictive control is applied to an actual robot, it has a disadvantage of being vulnerable to model error and disturbance. This problem can be solved through robust control using disturbance observer. However, if using robust control to a robot in contact, a the robot apply, is not only hinders, these is a problem. In addition, when using model predictive control with disturbance observer, these is a problem that the model predictive controller can’t reflect system constraints. In this paper, we propose a momentum-based disturbance observer reflecting contact constraint and model predictive controller with disturbance compensation. As different dynamic characteristics in the contact direction, we design a robust controller for each of the contact space and operational space. By combining this with the model prediction control technique, a disturbance observation model prediction controller for hybrid position-force control is derived. The proposed method is validated through simulation. |