Nonlinear Disturbance Observer Design For Robotic Manipulators

TLDR: In this paper, a general systematic approach is proposed to solve the disturbance observer design problem for robotic manipulators without restrictions on the number of degrees of freedom (DOF), the types of joints, or the manipulator configuration.

About: This article is published in Control Engineering Practice.The article was published on 2013-03-01 and is currently open access. It has received 354 citations till now. The article focuses on the topics: Serial manipulator & Disturbance (geology).

Figures

Figure 2: SCARA robotic arm.

Figure 4: Simulation study: position of the joints of the SCARA robot.

Table 3: Simulation study: Joint tracking error RMS values

Table 4: Simulation study: Disturbance tracking error RMS values

Figure 5: Simulation study: position tracking error time profiles.

Table 5: PHANToM Omni identified parameters

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Q1. What are the contributions mentioned in the paper "Nonlinear disturbance observer design for robotic manipulators" ?

In this paper, a general systematic approach is proposed to solve the disturbance observer design problem for robotic manipulators without restrictions on the number of degrees-of-freedom ( DOFs ), the types of joints, or the manipulator configuration. This method also ∗Corresponding author, Tel.: +1 ( 647 ) 978-0140 ∗∗Principal corresponding author, Tel.: +1 ( 780 ) 492-8935, fax: +1 ( 780 ) 492-1811 Email addresses: alireza. mohammadi @ mail. utoronto. ca ( A. Mohammadi ), mahdi. tavakoli @ ualberta. ca ( M. Tavakoli ), hmarquez @ ualberta. ca ( H. J. Marquez ), farzad. hashemzadeh @ ualberta. ca ( F. Hashemzadeh ) Preprint submitted to Control Engineering Practice October 22, 2012 unifies the previously proposed linear and nonlinear disturbance observers in a general framework. Experimental results using a PHANToM Omni haptic device further illustrate the effectiveness of the design method.