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Force estimation plays a very important role in many application areas. The disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving the robustness of force control and the accuracy of force estimation. However, one of the main disadvantages is the limitation from white Gaussian noise. This paper proposes an improved design methodology for the disturbance observer. The main contribution of the work described in this paper is the design of disturbance observers combined with a Kalman filter with a multisensor system. From the experimental results, white Gaussian noise was reduced and fast response in contact motion was achieved. The effectiveness of the proposed disturbance observer has been confirmed through comparisons with conventional methods in 1-d.o.f. linear motor systems.

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Original scientific paperGenerally, the flexible robot system can be modeled as the two-mass system which consists of a motor and load connected by a spring. Thus, its elasticity causes resonance in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control method, the resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for a position and force control. In this paper, three techniques are proposed for improving the performance of resonance ratio control. Firstly, a new multi encoder based disturbance observer (MEDOB) is shown to estimate the disturbance force on the load side. The proposed observer is not necessary to identify the nominal spring coefficient. Secondly, coefficient diagram method (CDM) has been applied to calculate a new gain of the force controller. A new resonance ratio gain has been presented as 2.0. Finally, the MEDOB and load side disturbance observer (LDOB) are employed to identify a spring coefficient of flexible robot system. By using the proposed identification method, it is simple to identify the spring coefficient and easy to implement in the real flexible robot system. The effectiveness of the proposed identification method is verified by simulation and experimental results.Key words: Disturbance observer, Two-mass system, Coefficient diagram method, Resonance ratio control Sinteza bezsenzornog upravljanja silom za fleksibilnog robota korištenjem upravljanja omjerom rezonancija temeljenim na metodi koeficijentnog dijagrama. Općenito, sustav fleksibilnog robota može se modelirati kao dvomaseni sustav koji se sastoji od motora i tereta povezanih oprugom. Rezonancija sustava posljedica je elastičnosti opruge. Korištenje konvencionalnog PID regulatora ne daje zadovoljavajuće performanse u ovoj situaciji. Provedena su mnoga istraživanja s ciljem smanjenja vibracija. Tako je uvedena nova učinkovita metoda upravljanja, upravljanje omjerom rezonancija, kao novi način da se osigura robusnost i priguše oscilacije tijekom izvršavanja zadatka putem upravljanja pozicijom i silom. U ovom radu predložene su tri tehnike za poboljšanje performansi upravljanja omjerom rezonancija. Prvo, pokazano je kako novi observer poremećaja temeljen na više enkodera (MEDOB) estimira poremećajnu silu na strani tereta. Predloženi observer nije nužan za identifikaciju nominalnog koeficijenta opruge. Drugo, metoda koeficijentnog dijagrama (CDM) je primijenjena za proračun novog pojačanja regulatora sile. Iznos 2.0 je odre en kao novo pojačanje omjera rezonancija. Konačno, MEDOB i observer poremećaja na strani tereta (LDOB) korišteni su za identifikaciju koeficijenta opruge sustava fleksibilnog robota. Predložena metoda identifikacije jednostavna je za implementaciju na stvarni sustav, te se pomoću nje jednostavno identificira koeficijent opruge. Učinkovitost predložene metode identifikacije provjerena je...