A nonlinear disturbance observer for robotic manipulators
Wen-Hua Chen
Ballance, D.J.
Gawthrop, P.J.
O'Reilly, J.
Dept. of Electron. & Electr. Eng., Glasgow Univ.;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Aug 2000
Volume: 47,
Issue: 4
On page(s): 932-938
ISSN: 0278-0046
References Cited: 16
CODEN: ITIED6
INSPEC Accession Number: 6685880
Digital Object Identifier: 10.1109/41.857974
Current Version Published: 2002-08-06
Abstract
A new nonlinear disturbance observer (NDO) for robotic
manipulators is derived in this paper. The global exponential stability
of the proposed disturbance observer (DO) is guaranteed by selecting
design parameters, which depend on the maximum velocity and physical
parameters of robotic manipulators. This new observer overcomes the
disadvantages of existing DOs, which are designed or analyzed by linear
system techniques. It can be applied in robotic manipulators for various
purposes such as friction compensation, independent joint control,
sensorless torque control and fault diagnosis. The performance of the
proposed observer is demonstrated by the friction estimation and
compensation for a two-link robotic manipulator. Both simulation and
experimental results show the NDO works well
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