A Torque Controller Design of Flexible Joint Robot Arm using Disturbance Observer

Abstract

In this paper, we propose a robust torque controller method for a flexible joint robot arm. Considered flexible joint robot arm can measure the joint torque by the torque sensor. In this robot arm system, there are undesirable effects e.g, parameter variation, errors in parameter identification and external disturbances as well as disturbance. To reduce the disturbance effects on the system performance, the disturbance observer scheme is used, and the system dynamics is reformulated to apply the disturbance observer. Using simulations of one degree of freedom flexible joint robot arm, we have demonstrated the performance of the proposed controller.