An implementation method of workspace observer considering fluctuation of equivalent mass matrix

Naoki Motoi, Ryogo Kubo

研究成果: Conference contribution

抄録

This paper proposes an implementation method of a workspace observer (WOB) considering a fluctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is influenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this viewpoint, this paper modifies a nominal plant model in real time due to an estimation of an equivalent mass matrix. Here, a nominal plant model includes off-diagonal elements. An equivalent mass matrix is fluctuated due to a manipulator motion. This fluctuation is influenced to a control performance of WOB. Therefore, this fluctuation is compensated in this paper. In addition, a decoupling in an acceleration dimension is actualized, even if a nominal plant model includes off-diagonal elements. The validity of the proposed method was confirmed by simulation results.

本文言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4568-4573
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータスPublished - 2015
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11 92015 11 12

出版物シリーズ

名前IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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