Analysis and Comparison of Back-Forward Drivability Control Using Load-side Sensors for Human-Robot Interaction

This paper introduces back-forward drivability control using three load-side sensors, e.g., double encoder, acceleration sensor, and torsion torque sensor. Three back-forward drivability controls are designed to achieve the single-inertialization on steady state. For the double encoder system, self-resonance cancellation (SRCDOB) is applied. Acceleration sensor-based system applies equivalent disturbance compensator (EDC) and torsion torque sensor-based system employs torsion torque control (TTC). This paper discusses three control approaches on no frictions. In the numerical simulation, the single-inertialization of those methods is verified and the control performances are compared.