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 language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Publ by IEEE |
| Pages | 902-909 |
| Number of pages | 8 |
| Edition | pt 2 |
| ISBN (Print) | 0818653329 |
| Publication status | Published - 1994 |
| Externally published | Yes |
| Event | Proceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA Duration: 1994 May 8 → 1994 May 13 |
Other
| Other | Proceedings of the 1994 IEEE International Conference on Robotics and Automation |
|---|---|
| City | San Diego, CA, USA |
| Period | 94/5/8 → 94/5/13 |
Fingerprint
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Manipulator control based on a disturbance observer in the operational space. / Kaneko, Kenji; Komoriya, Kiyoshi; Ohnishi, Kouhei; Tanie, Kazuo.
Proceedings - IEEE International Conference on Robotics and Automation. pt 2. ed. Publ by IEEE, 1994. p. 902-909.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Manipulator control based on a disturbance observer in the operational space
AU - Kaneko, Kenji
AU - Komoriya, Kiyoshi
AU - Ohnishi, Kouhei
AU - Tanie, Kazuo
PY - 1994
Y1 - 1994
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0028098293&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0028098293&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0028098293
SN - 0818653329
SP - 902
EP - 909
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
ER -