@inproceedings{6d67e187294544f9b9ebe80d361855cd,
title = "Simplification of inverse kinematics routine of robot manipulators using disturbance observer in task space",
abstract = "The authors propose a simple high-performance control strategy based on disturbance compensation by the disturbance observer in task space. The disturbance observers makes robot manipulators linear in task space and realizes acceleration control. The inverse kinematics routine can be simplified, because the disturbance observer compensates not only to the disturbance but also to the error due to the simplification of the inverse kinematics routine. The strategy was applied to a three-degree-of-freedom direct drive robot to show its effectiveness experimentally.",
author = "Satoshi Komada and Jeongho Shin and Muneaki Ishida and Kouhei Ohnishi and Takamasa Hori",
year = "1992",
month = dec,
day = "1",
language = "English",
isbn = "0818627204",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Publ by IEEE",
pages = "1381--1386",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
note = "Proceedings of the 1992 IEEE International Conference on Robotics and Automation ; Conference date: 12-05-1992 Through 14-05-1992",
}