This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

Abstract
 1. 서 론
 2. 조인트 제어 및 충돌감지 알고리즘
  2.1 조인트 제어기 구성
  2.2 충돌 감지 알고리즘 구성
 3. 시스템 적용 및 실험
  3.1 7-dof 연성 매니퓰레이터
 4. 결 론
 References

• 정병진(Senior Researcher, KETI) | Byung-jin Jung
• 김태근(Senior Researcher, KETI) | Tae-Keun Kim
• 원건(Researcher, KETI) | Geon Won
• 김동섭(Assistant Researcher, KETI) | Dong Sup Kim
• 황정훈(Managerial Researcher, KETI) | Junghun Hwang Corresponding author