Disturbance observer, Hybrid control, Impedance control, motion control, Force control. Introduction 1
II. Problem Formulation 4
2.1. Manipulator Dynamics 4
2.2. Disturbance and Model Uncertainty in Impedance-based Motion Control 4
2.3. Limitation of Conventional WSDOB in Impedance-based Motion Control 7
III. Robust-Safe Motion Control and Force Control with Workspace Force and Acceleration Disturbance Observer 9
3.1. Workspace Force-Acceleration Disturbance Observer for Impedance-based Motion Control 9
3.2. Workspace Force-Acceleration Disturbance Observer for Force Tracking Impedance Control 11
IV. Performance Verification through Simulation 13
4.1. Simulation of Position Tracking Performance and Contact Behavior in Impedance-based Motion Control 13
4.2. Simulation of Performance of External Force Response under Model Uncertainty in Impedance-based Motion Control 16
4.3. Simulation of Performance of Force Control in Force Tracking Impedance Control 18
V. Experimental Verification 19
5.1. Experiment Condition 19
5.2. Experiment of Performance of Position Tracking Performance and Contact Behavior in Impedance-based Motion Control 19
5.3. Experiment of Performance of External Force Response in Impedance-based Motion Control 22
5.4. Experiment of Performance of Force Control in Force Tracking Impedance Control 23
VI. Conclusion 25MasterdCollectio
