• DocumentCode
    3713695
  • Title

    Applying disturbance observer to the motor side of flexible joint robots with PD control

  • Author

    Min Jun Kim;Wan Kyun Chung

  • Author_Institution
    Department of Mechanical Engineering, POSTECH, Pohang, 790-784, Korea
  • fYear
    2015
  • Firstpage
    197
  • Lastpage
    198
  • Abstract
    This paper demonstrates DOB-based PD+gravity compensation control for flexible joint robots (FJRs). By virtue of the DOB, the controller can recover global asymptotic stability under the friction. One important difference from the typical DOB implementation is that the nominal signal feedback is required, instead of the real (measured) signal feedback.
  • Keywords
    "Robots","PD control","Asymptotic stability","Observers","Gravity","Friction","Lyapunov methods"
  • Publisher
    ieee
  • Conference_Titel
    Ubiquitous Robots and Ambient Intelligence (URAI), 2015 12th International Conference on
  • Type

    conf

  • DOI
    10.1109/URAI.2015.7358867
  • Filename
    7358867
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3713695