An adaptive disturbance observer for a two-link robot manipulator

2008 International Conference on Control, Automation and Systems, ICCAS 2008

Volumn , Issue , 2008, Pages 141-145

  Kim, Yonggu ^a   Seok, Jinwook ^a   Noh, Ilhwan ^a   Won, Sangchul ^a  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

Author keywords

Adaptive control; Disturbance observer; Robustness; Two link robot manipulator

Indexed keywords

ADAPTIVE ALGORITHMS; CONTROL THEORY; DYNAMICS; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MANIPULATORS; MODULAR ROBOTS; NONLINEAR CONTROL SYSTEMS; ROBOT APPLICATIONS; ROBOTICS; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS);

ADAPTIVE CONTROL; ADAPTIVE DISTURBANCE OBSERVERS; BODY SYSTEMS; CONTROL ALGORITHMS; DISTURBANCE OBSERVER; EXTERNAL FORCES; EXTERNAL-; HIGHLY NONLINEAR; INERTIA MOMENTS; ROBOT DYNAMICS; ROBUST SYSTEMS; ROBUSTNESS; SIMULATION RESULTS; TWO-LINK ROBOT MANIPULATOR; UNKNOWN STATES; WORK PLACES;

ADAPTIVE CONTROL SYSTEMS;

EID: 58149092765     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICCAS.2008.4694540     Document Type: Conference Paper

References (13)

1. M. Nakao, K. Ohnishi and K. Miyachi, "A Robust Decentralized Joint Control Based on Interference Estimation", IEEE Int. Conf. on Robotics and Automation, pp. 326-331, 1987.
2. S. H. Song, J. K. Kim, S. W. Lee and Y. T. Im, "Robust Adaptive Control of Uncertain Nonlinear Systems via Disturbance Observer Techniques", Industrial Electronics Society IECON'03, pp. 135-139, 2003.
3. C.S. Liu and H. Peng, "Disturbance Observer Based Tracking Control", Transactions of the ASME, Vol. 122, June 2000.
4. S. Komada, M. Ishida, K. Ohnishi and T. Hori, "Disturbance Observer-based Motion Control of Direct Drive Motors", IEEE Transactions on Energy Conversion, Vol. 6, September 1991.
5. K. S. Eom, I. H. Suh, W. K. Chung and S. R. Oh, "Disturbance Observer Based Force Control of Robot Manipulator without Force Sensor", IEEE Int. Conf. on Robotics and Automation, May 1998.
6. F. Yu, T. Murakami and K Ohnishi, "Sensorless Force Control of Direct Drive Manipulator", Proceedings of the IEEE International Symposium on Industrial Electronics, vol.1 pp. 331-315, May 1992.
7. I. Godler, M. Inoue, T. Ninomiya and T. Yamashita, "Robustness Comparison of Control Schemes with Disturbance Observer and with Acceleration Control Loop", IEEE ISIE'99, 1999.
8. B. K. Kim, W. K. Chung, "Advanced Disturbance Observer Design for Mechanical Positioning Systems", IEEE Transactions on Industrial Electronics, Vol. 50, No. 6, December 2003.
9. I. H. Noh and S. C. Won, "Control of Two-link Robot attached to a Mass-Spring using Disturbance Observer", ICCAS2007, October 2007.
10. J. S. Yeon, E. J. Kim, S. H. Lee, J. H. Park and J. S. Hur, "Development of Inverse Dynamic Controller for Industrial robots with HyRoHILS system", ICCAS2005, June 2005.
11. R. M. Murray, Z. Li and S. S. Sastry, "A Mathematical Introduce to Robotic Manipulation", CRC Press, 1994.
12. J. K. Davidson and K. H. Hunt, "Robots and Screw Theory application of kinematics and statics to robotics", OXFORD, 2004.
13. J. M. Selig, "Geometric Fundamentals of Robotics", Springer, 2005.