Manipulator control based on a disturbance observer in the operational space

Kenji Kaneko, Kiyoshi Komoriya, Kouhei Ohnishi, Kazuo Tanie

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

Recent requirements for fast and accurate motion in industrial robot manipulators demand more advanced control techniques. Past techniques, such as the resolved acceleration method and nonlinear feedback control, etc. require detailed information on mechanical parameters. In these methods, the modelling errors adversely effect manipulator motion. To overcome this problem, this paper proposes a method for constructing nominal dynamic modelling for a robotic arm in the operational space. When the proposed method realizes a disturbance observer in the operational space, individual coordinate motions can be decoupled and independently controlled. Further, individual motion in the operational space coordinate is driven as if only nominally fixed mechanical dynamics in the operational space existed. As a result, the method enables to construct the control law without any calibration for the mechanical parameters. Finally, we present experimental results from an implementation of the proposed method.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Publ by IEEE
ページ902-909
ページ数8
pt 2
ISBN(印刷版)0818653329
出版ステータスPublished - 1994 1月 1
イベントProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
継続期間: 1994 5月 81994 5月 13

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
番号pt 2
ISSN(印刷版)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period94/5/894/5/13

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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