An implementation method of workspace observer considering fluctuation of equivalent mass matrix

Naoki Motoi, Ryogo Kubo

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper proposes an implementation method of a workspace observer (WOB) considering a fluctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is influenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this viewpoint, this paper modifies a nominal plant model in real time due to an estimation of an equivalent mass matrix. Here, a nominal plant model includes off-diagonal elements. An equivalent mass matrix is fluctuated due to a manipulator motion. This fluctuation is influenced to a control performance of WOB. Therefore, this fluctuation is compensated in this paper. In addition, a decoupling in an acceleration dimension is actualized, even if a nominal plant model includes off-diagonal elements. The validity of the proposed method was confirmed by simulation results.

    Original languageEnglish
    Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages4568-4573
    Number of pages6
    ISBN (Electronic)9781479917624
    DOIs
    Publication statusPublished - 2016 Jan 25
    Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
    Duration: 2015 Nov 92015 Nov 12

    Other

    Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
    CountryJapan
    CityYokohama
    Period15/11/915/11/12

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering

    Fingerprint Dive into the research topics of 'An implementation method of workspace observer considering fluctuation of equivalent mass matrix'. Together they form a unique fingerprint.

  • Cite this

    Motoi, N., & Kubo, R. (2016). An implementation method of workspace observer considering fluctuation of equivalent mass matrix. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4568-4573). [7392812] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392812