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Many effective robot-manipulator control schemes using a disturbance observer have been reported in the literature in the past decades. Besides, the disturbance observer combined with the Kalman filter has attracted the attention of researchers in the field of motion control. The major advantage of a motion control system based on the Kalman filter and disturbance observer is the realization of high robustness against disturbance and parameter variations, effective noise suppression and wideband force sensing. This paper presents a survey of motion control based on the Kalman filter and disturbance observer, which have been previously introduced by the authors. Several control schemes, as well as formulations and applications of the Kalman filter and disturbance observer, are described in the paper. The performance and effectiveness of the control schemes are evaluated to give a useful and comprehensive design of the Kalman filter and disturbance observer in various motion control applications.

Force sensation plays an important role in force control systems. The bandwidth of force sensing is vital to reproduce the vivid force information. Generally, sensor-less force control systems use the position-sensor-based disturbance observer for force estimation. The bandwidth of force sensation as well as the control performance, however, is limited by the noise problems. This paper proposes a method to achieve the high performance force sensing. In the paper, the force estimation operation is performed by a combination of a Kalman-filter and a disturbance observer implemented in a field programmable gate array (FPGA). The wide bandwidth force sensing can be attained owing to the shortened sampling time by FPGA. Moreover, the noise in the force information is suppressed effectively by the Kalman-filter. The experimental results show the viability of the proposed method.