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Outer-Loop Admittance And Motion Control Dual Improvement via A Multi-function Observer

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posted on 2023-04-28, 21:57 authored by Kangwagye SamuelKangwagye Samuel, Kevin Haninger, Roberto Oboe, Sehoon Oh

Safe environment contact and high performance motion control are typically conflicting design goals. Admittance control can improve safety and stability in contact with a stiff environment, but remains challenging on industrial robots.

Typically high-performance motion control is achieved by low-admittance systems, which can give high transient forces or instability in contact with high-stiffness environments.

This paper proposes a linear admittance control framework from which a Multi-function OBserver (MOB)-based control scheme that succeeds in directly improving the motion control accuracy by suppressing disturbances, while achieving better loop shaping in the outer-loop admittance control is developed.

By using the task space force and position measurement of the robot, combined with linearized robot and payload models to design the MOB, the outer-loop controller can render improved interactive dynamics.

In addition, a methodology to design the proposed MOB based on the reduced-order model is developed.

Theoretical evaluations and experiments verify the effectiveness of the proposed MOB-based control method, in contact with an environment stiffness and with a 7~kg payload.


European Union's Horizon 2020 research and innovation programme under grant agreement No 820689 — SHERLOCK

The National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (NRF-2019R1A2C2011444)


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  • Korea, Republic of (South Korea)

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