A design method for manipulator control based on disturbance observer

Abstract

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.

Analysis of linear L1 adaptive control architectures for aerospace applications

“…2 could be compared to a disturbance observer in Fig 3 ([9], [10] and [11]). The two have many common features.…”

Analysis and synthesis of stable grasp by multi-fingered robot hand with compliance control

“…However, there is few studies of the stability analysis due to the complexity of the disturbance signal, which includes the various types of the degeneration factors. Kaneko et al [20] discussed the effect of the inertia variation based on the root locus numerically. The variation of the torque coefficient was considered in [21].…”

Experiments on a visual servoing approach using disturbance observer

“…In order to improve control performance of visual servoing for robot manipulators by decreasing its condition number, a systematic approach was proposed in [6] by adopting disturbance observer [7] [8], vanishing points of image features [9] and a block diagonal image Jacobian. An upper block triangular image Jacobian matrix is obtained by using the vanishing points and the disturbance observer was used for the compensation of errors due to canceling the off-diagonal part of the block triangular image Jacobian matrix, and for the rejection of external disturbances.…”