ChenEtAl_nonlinear_IEEE_TransIE_2000.pdf (194.32 kB)
Download fileA nonlinear disturbance observer for robotic manipulators
journal contribution
posted on 2008-10-20, 09:07 authored by Wen-Hua ChenWen-Hua Chen, Donald J. Ballance, Peter J. Gawthrop, John O'ReillyA 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 DO’s, 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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- Aeronautical, Automotive, Chemical and Materials Engineering
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- Aeronautical and Automotive Engineering