Control of redundant manipulators considering order of disturbanceobserver
Komada, S.; Machii, N.; Hori, T.
Industrial Electronics, IEEE Transactions on
Volume 47, Issue 2, Apr 2000 Page(s):413 - 420
Digital Object Identifier 10.1109/41.836357
Summary:A manipulator control method using a disturbance observer with no
inverse dynamics has been proposed. The order of the disturbance
observer affects the performance of control system, because
nominalization of plant is dependent on the control object and the order
of the disturbance observer. This paper proposes a unique choice of
disturbance observers of different order in joint and task space to
improve system performance of hybrid position/force control of redundant
manipulators. Also, it has been shown that a proper selection of a
coefficient of the disturbance observer is capable to improve robust
stability, while not influencing basic performance. The proposed
strategy can realize acceleration control and second derivative of force
control in the task space, which realizes robust and precise control of
manipulators. Experimental results using a redundant manipulator show
the effectiveness of the proposed strategy
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