Implementation of disturbance observer for compensating backlash

Author

Kim, Chi-Seung ; Kang, Min-Jung ; Kim, Jin-Hwan ; Huh, Uk-Youl

Author_Institution

Dept. of Electr. Eng., Inha Univ., Incheon, South Korea

fYear

2009

fDate

18-21 Aug. 2009

Firstpage

1812

Lastpage

1816

Abstract

The methods of implementation of disturbance observer for compensating backlash and rejecting the noise are addressed in this paper. The disturbance observer is designed with the inverse model of the plant and Q-filter. In the realization of the disturbance observer, some problems, which are measurement noise caused by encoder, reduction and discretization of disturbance observer, should be considered.

Keywords

compensation; humanoid robots; noise measurement; observers; realisation theory; Q-filter; backlash compensation; disturbance observer design; disturbance observer discretization; disturbance observer realization; encoder; humanoid robot joint system; inverse model; noise measurement; noise rejection; Gears; Inverse problems; Knee; Low pass filters; Noise measurement; Noise reduction; Nonlinear control systems; Robots; Torque control; Voltage control; Disturbance observer; discretization; measurement noise; reduction;

fLanguage

English

Publisher

ieee

Conference_Titel

ICCAS-SICE, 2009

Conference_Location

Fukuoka

Print_ISBN

978-4-907764-34-0

Electronic_ISBN

978-4-907764-33-3

Type

conf

Filename

5334346

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=504671