Design method for manipulator control based on disturbance observer

Kenji Kaneko, Kouhei Ohnishi, Kiyoshi Komoriya

研究成果: Paper査読

18 被引用数 (Scopus)

抄録

Recent requirements for fast and accurate motion in industrial robot manipulators demand more advanced control techniques. For these requirements, many manipulator control methods have been developed. One of them is a manipulator control based on the disturbance observer. The disturbance observer estimates the disturbance torque(force) using a nominal model and compensates for the parameter variations between the real manipulator and the nominal model. Because of high performance, a simple algorithm, and its usefulness for real time control, the disturbance observer has recently been employed for manipulator control. However, how stably the disturbance observer suppresses parameter variation in the total manipulator control system has not been examined. This paper analyzes a manipulator control based on the disturbance observer. From this analysis, this paper also proposes one design method of the manipulator control based on the disturbance observer. Finally, we present experimental results from an implementation of the proposed method.

本文言語English
ページ1405-1412
ページ数8
出版ステータスPublished - 1994 12 1
イベントProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
継続期間: 1994 9 121994 9 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period94/9/1294/9/16

ASJC Scopus subject areas

  • 工学(全般)

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