Manipulator control based on a disturbance observer in the operational space

Kenji Kaneko, Kiyoshi Komoriya, Kouhei Ohnishi, Kazuo Tanie

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

6 Citations (Scopus)

Abstract

Recent requirements for fast and accurate motion in industrial robot manipulators demand more advanced control techniques. Past techniques, such as the resolved acceleration method and nonlinear feedback control, etc. require detailed information on mechanical parameters. In these methods, the modelling errors adversely effect manipulator motion. To overcome this problem, this paper proposes a method for constructing nominal dynamic modelling for a robotic arm in the operational space. When the proposed method realizes a disturbance observer in the operational space, individual coordinate motions can be decoupled and independently controlled. Further, individual motion in the operational space coordinate is driven as if only nominally fixed mechanical dynamics in the operational space existed. As a result, the method enables to construct the control law without any calibration for the mechanical parameters. Finally, we present experimental results from an implementation of the proposed method.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages902-909
Number of pages8
Editionpt 2
ISBN (Print)0818653329
Publication statusPublished - 1994 Jan 1
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: 1994 May 81994 May 13

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 2
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period94/5/894/5/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Kaneko, K., Komoriya, K., Ohnishi, K., & Tanie, K. (1994). Manipulator control based on a disturbance observer in the operational space. In Proceedings - IEEE International Conference on Robotics and Automation (pt 2 ed., pp. 902-909). (Proceedings - IEEE International Conference on Robotics and Automation; No. pt 2). Publ by IEEE.