The dynamics of a multidegrees-of-freedom manipulator are highly nonlinear and the compensation for this nonlinearity should be indispensible. The authors propose a decentralized joint control method based on the disturbance observer where the dynamical equation is not directly solved. By using information about the acceleration, the nonlinear term in the dynamical equation is estimated without a mathematically complicated process, and as a result, the joints are able to be decoupled and controlled independently of each other by using 16-bit microprocessors. Simulated and experimental results are presented to confirm the industrial viability of this method.
|Title of host publication||Unknown Host Publication Title|
|Number of pages||6|
|Publication status||Published - 1987 Jan 1|
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