Compensation for a Long Arm Payload by a Non Model-Based Disturbance Observer

被引：0

作者：

Bae, Yeong-Geol ^{[1
]}

Jung, Seul ^{[1
]}

机构：

[1] Chungnam Natl Univ, Dept Mechatron Engn, Intelligent Syst & Emot Engn ISEE Lab, Taejon, South Korea

来源：

2013 9TH ASIAN CONTROL CONFERENCE (ASCC) | 2013年

关键词：

home robots; robot arms; disturabnce observer; position control; MOTION CONTROL; DESIGN; FREEDOM;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a compensation technique for unknown payloads of extra-long arms of a mobile manipulator aimed for home services. In the Cartesian movements of robot arms, linear acceleration can be measured by an accelerometer and be used to estimate the disturbance configured in the disturbance observer (DOB) scheme. Here, it is assumed that robot model parameters are totally unknown. Experimental studies are conducted to confirm that the acceleration-based DOB improves the tracking performance of the robot arm in the Cartesian space.

引用

页数：5

共 14 条

[1]

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[2]

Bae YG, 2011, 2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), P833

[3]

ENDO S, 1993, PROCEEDINGS OF THE 1993 AMERICAN CONTROL CONFERENCE, VOLS 1-3, P2494

[4]

Jeong SH, 2012, IEEE ASME INT C ADV, P916, DOI 10.1109/AIM.2012.6265965

[5]

Jeong-Ho Shin, 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation (Cat. No.95CH3461-1), P3137, DOI 10.1109/ROBOT.1995.525731

[6] Disturbance Observer for Non-minimum Phase Linear Systems [J].