Simplification of inverse kinematics routine of robot manipulators using disturbance observer in task space

Satoshi Komada, Jeongho Shin, Muneaki Ishida, Kouhei Ohnishi, Takamasa Hori

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

3 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages1381-1386
Number of pages6
ISBN (Print)0818627204
Publication statusPublished - 1992 Dec 1
EventProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: 1992 May 121992 May 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2

Other

OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period92/5/1292/5/14

ASJC Scopus subject areas

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

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