Quick Torsion Torque Control Based on Model Error Compensator and Disturbance Observer with Torsion Torque Sensor

Conventionally, I-P-I-P torsion torque control has been proposed for realizing the load-side acceleration control that is a robust motion control for the flexible joint manipulator. However, conventional torsion torque control is designed as a 4th-order delay system and it is difficult to improve the control bandwidth. For this, reducing control-system-order is required. This paper proposes a quick torsion torque control based on a force and position sensors integrated disturbance observer (FPIDO) and a model error compensator (MEC) for improving the performance of human interaction in the flexible joint manipulator. The proposed approach that combines the FPIDO and MEC is capable of control the design of the torsion torque control at the 2nd-order delay system. The proposed approach is verified through numerical simulation and experimental results.