A nonlinear disturbance observer for robotic manipulators

Author

Chen, Wen-Hua ; Ballance, Donald J. ; Gawthrop, Peter J. ; O´Reilly, John

Author_Institution

Dept. of Electron. & Electr. Eng., Glasgow Univ., UK

Volume

47

Issue

4

fYear

2000

fDate

8/1/2000 12:00:00 AM

Firstpage

932

Lastpage

938

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

Keywords

asymptotic stability; compensation; control system analysis; control system synthesis; friction; manipulators; nonlinear control systems; observers; torque control; control design; control performance; control simulation; design parameters selection; fault diagnosis; friction compensation; friction estimation; global exponential stability; independent joint control; maximum velocity; nonlinear disturbance observer; physical parameters; robotic manipulators; sensorless torque control; two-link robotic manipulator; Control systems; Force control; Friction; Linear systems; Manipulator dynamics; Robot sensing systems; Robotic assembly; Sensorless control; Service robots; Torque control;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.857974

Filename

857974