Design of reduced order disturbance observer of series elastic actuator for robust force control

Hyunwook Lee; Sehoon Oh

doi:10.1109/AMC.2019.8371173

Design of reduced order disturbance observer of series elastic actuator for robust force control

Hyunwook Lee, Sehoon Oh

Department of Robotics and Mechatronics Engineering

Daegu Gyeongbuk Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

This paper proposes a new Reduced Order Disturbance OBserver(RODOB) for Series Elastic Actuators (SEAs). The SEAs assess the externally applied force by measuring the spring deformation. To control SEAs, Disturbance OBserver (DOB) has been widely researched to reject nonlinear disturbances and nominalize target plants to nominal models. However, parameter identification of the plant has a complicated process and demands expensive device. To address these identification difficulties, a novel DOB design which is simple and easy to apply is proposed.

Original language	English
Title of host publication	Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	663-668
Number of pages	6
ISBN (Electronic)	9781538619469
DOIs	https://doi.org/10.1109/AMC.2019.8371173
State	Published - 1 Jun 2018
Event	15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan Duration: 9 Mar 2018 → 11 Mar 2018

Publication series

Name	Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018

Conference

Conference	15th IEEE International Workshop on Advanced Motion Control, AMC 2018
Country/Territory	Japan
City	Tokyo
Period	9/03/18 → 11/03/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

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10.1109/AMC.2019.8371173

Cite this

Lee, H., & Oh, S. (2018). Design of reduced order disturbance observer of series elastic actuator for robust force control. In Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018 (pp. 663-668). (Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2019.8371173

Lee, Hyunwook ; Oh, Sehoon. / Design of reduced order disturbance observer of series elastic actuator for robust force control. Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 663-668 (Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018).

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title = "Design of reduced order disturbance observer of series elastic actuator for robust force control",

abstract = "This paper proposes a new Reduced Order Disturbance OBserver(RODOB) for Series Elastic Actuators (SEAs). The SEAs assess the externally applied force by measuring the spring deformation. To control SEAs, Disturbance OBserver (DOB) has been widely researched to reject nonlinear disturbances and nominalize target plants to nominal models. However, parameter identification of the plant has a complicated process and demands expensive device. To address these identification difficulties, a novel DOB design which is simple and easy to apply is proposed.",

author = "Hyunwook Lee and Sehoon Oh",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 15th IEEE International Workshop on Advanced Motion Control, AMC 2018 ; Conference date: 09-03-2018 Through 11-03-2018",

year = "2018",

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doi = "10.1109/AMC.2019.8371173",

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Lee, H & Oh, S 2018, Design of reduced order disturbance observer of series elastic actuator for robust force control. in Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 663-668, 15th IEEE International Workshop on Advanced Motion Control, AMC 2018, Tokyo, Japan, 9/03/18. https://doi.org/10.1109/AMC.2019.8371173

Design of reduced order disturbance observer of series elastic actuator for robust force control. / Lee, Hyunwook; Oh, Sehoon.
Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 663-668 (Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper proposes a new Reduced Order Disturbance OBserver(RODOB) for Series Elastic Actuators (SEAs). The SEAs assess the externally applied force by measuring the spring deformation. To control SEAs, Disturbance OBserver (DOB) has been widely researched to reject nonlinear disturbances and nominalize target plants to nominal models. However, parameter identification of the plant has a complicated process and demands expensive device. To address these identification difficulties, a novel DOB design which is simple and easy to apply is proposed.

AB - This paper proposes a new Reduced Order Disturbance OBserver(RODOB) for Series Elastic Actuators (SEAs). The SEAs assess the externally applied force by measuring the spring deformation. To control SEAs, Disturbance OBserver (DOB) has been widely researched to reject nonlinear disturbances and nominalize target plants to nominal models. However, parameter identification of the plant has a complicated process and demands expensive device. To address these identification difficulties, a novel DOB design which is simple and easy to apply is proposed.

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BT - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018

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Lee H, Oh S. Design of reduced order disturbance observer of series elastic actuator for robust force control. In Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 663-668. (Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018). doi: 10.1109/AMC.2019.8371173

Design of reduced order disturbance observer of series elastic actuator for robust force control

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