Coordinated motion of two redundant manipulators by simple hybridposition/force controller with disturbance observer

摘要

We propose a simple and high performance hybrid position/forcecontrol method of redundant manipulators. The proposed method usesdisturbance observers both in task space and joint space. Thedisturbance observer linearizes control objects. By using thedisturbance observer in joint space, the dynamics of manipulators can belinearized. The inverse kinematics can be simplified by the disturbanceobserver in task space. In this paper, the proposed simple hybridposition/force control method is applied to a coordinated motion, andusefulness of this method is confirmed by a simulation result