Parameter identification of a direct-drive robot by a disturbance observer

Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper presents a dynamics identification algorithm based on a disturbance observer for a multi-degrees-of-freedom robot. In the conventional approach, the disturbance observer is used to increase the robustness of the robot. In this case, the estimated disturbance torque is directly fed back to cancel out the disturbance torque imposed on the robot. In this paper, the estimated disturbance torque is analyzed from the physical point of view and the robot dynamics are identified by resolving the estimated disturbance torque.

Original languageEnglish
Pages (from-to)559-574
Number of pages16
JournalAdvanced Robotics
Volume7
Issue number6
Publication statusPublished - 1993

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Identification (control systems)
Torque
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Parameter identification of a direct-drive robot by a disturbance observer. / Murakami, Toshiyuki; Ohnishi, Kouhei.

In: Advanced Robotics, Vol. 7, No. 6, 1993, p. 559-574.

Research output: Contribution to journalArticle

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