关键词：运动控制；干扰观测器（DOB）；反应转矩观测
摘 要：Many studies on human support robots have been carried out hitherto. The bilateral control based on 4ch bilateral controller is an efficient method for human support. Bilateral control is a method for realizing transmission of force sensation between a master system and a slave system. However, in the case of a multi-degree of freedom system, containing vertical motion, it is difficult to distinguish reaction force and gravity force. Moreover, it is difficult to actuate multi-degree of freedom robots with direct drive motors because the rating of motors are limited. The mechanical gravity canceller is one of the best solutions for gravity compensation. This mechanism uses compression springs and slider crank mechanisms to suppress the gravity torque. However, only a static model has been built up to now. Therefore, this paper presents a dynamic model based on Newton-Euler and Euler-Lagrange equations. Through this model and experimental results, no effect of springs are shown during motion control.