基于频响数据的扰动观测器设计，提升柔性关节机器人的控制鲁棒性。
Frequency Response Data-Driven Disturbance Observer Design for Flexible Joint Robots
- 利用频响函数优化扰动观测器，适应关节柔性和参数变化。
- 显著提升系统控制带宽并有效抑制振动，实验验证性能优越。
- 适合需要高精度运动控制的柔性机器人系统应用。
柔性关节机器人（FJR）的运动控制受固有柔性及系统动态参数随构型变化的影响，导致控制难度增加。尽管扰动观测器（DOB）可增强系统鲁棒性，但其性能常受限于关节弹性与参数波动，造成设计过于保守。本文提出一种基于频率响应函数（FRF）的优化方法，旨在提升DOB在柔性及系统变异性条件下的表现。该方法最大化控制带宽，有效抑制振动，从而全面提升系统性能。通过奈奎斯特稳定性判据严格证明了闭环稳定性。在真实柔性关节机器人上的实验表明，所提方法在存在关节柔性与系统变化时仍显著提升了鲁棒性与运动性能。
原文摘要 · Abstract (English)
Motion control of flexible joint robots (FJR) is challenged by inherent flexibility and configuration-dependent variations in system dynamics. While disturbance observers (DOB) can enhance system robustness, their performance is often limited by the elasticity of the joints and the variations in system parameters, which leads to a conservative design of the DOB. This paper presents a novel frequency response function (FRF)-based optimization method aimed at improving DOB performance, even in the presence of flexibility and system variability. The proposed method maximizes control bandwidth and effectively suppresses vibrations, thus enhancing overall system performance. Closed-loop stability is rigorously proven using the Nyquist stability criterion. Experimental validation on a FJR demonstrates that the proposed approach significantly improves robustness and motion performance, even under conditions of joint flexibility and system variation.
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