Title :
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
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;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
