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

Fingerprint

Robust control
Transient analysis
Manipulators
Control systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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

An implementation method of workspace observer considering fluctuation of equivalent mass matrix. / Motoi, Naoki; Kubo, Ryogo.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4568-4573 7392812.

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

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., 7392812, Institute of Electrical and Electronics Engineers Inc., pp. 4568-4573, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392812
Motoi N, Kubo R. An implementation method of workspace observer considering fluctuation of equivalent mass matrix. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2016. p. 4568-4573. 7392812 https://doi.org/10.1109/IECON.2015.7392812
Motoi, Naoki ; Kubo, Ryogo. / An implementation method of workspace observer considering fluctuation of equivalent mass matrix. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 4568-4573
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