An adaptive force control of redundant manipulator based on joint acceleration controller

Murakami, Toshiyuki; Ohnisi, K.

doi:10.1109/iecon.1991.239147

Cited by 9 publications

(4 citation statements)

References 8 publications

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“…In this section, firstly, although several types of disturbance observer [7][8][9][10][11][12][13][14] have been reported, the manipulator control using the disturbance observer in the operational space which we proposed[l2,13] is analyzed through a two degree of freedom robot as shown in Figure 2. This analysis can also be applied to control systems using other types of observers.…”

Section: Stability and One Design Methodsmentioning

confidence: 99%

A design method for manipulator control based on disturbance observer

Kaneko¹,

Ohnishi²,

Komoriya³

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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Recent requirements for fast and accurate motion in industrial robot manipulators demand more advanced control techniques. For these requirements, many manipulator control methods have been developed. One of them is a manipulator control based on the disturbance observer. The disturbance observer estimates the disturbance torque(force) using a nominal model and compensates for the parameter variations between the real manipulator and the nominal model. Because of high performance, a simple algorithm, and its usefulness for real time control, the disturbance observer has recently been employed for manipulator control. However, how stably the disturbance observer suppresses parameter variation in the total manipulator control system has not been examined. This paper analyzes a manipulator control based on the disturbance observer. From this analysis, this paper also proposes one design method of the manipulator control based on the disturbance observer. Finally, we present experimental results from an implementation of the proposed method.

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Section: Stability and One Design Methodsmentioning

confidence: 99%

A design method for manipulator control based on disturbance observer

Kaneko¹,

Ohnishi²,

Komoriya³

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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show abstract

“…For example, the simplest function of G(s) is given by (9) This is the second order low pass fil ter whose Bode diagram is shown in Fig This figure shows that IG(jw)1 is nearly unity and 11 -G(j wll is nearly null at lower frequency. On the other hand, the former is nearly null and the latter is nearly unity at higher frequency.…”

Section: Realization Of Robust Control Systemmentioning

confidence: 97%

“…A least-squares estimation which minimizes the weighting error function J(k) is adopted to the identification of the environmen tal stiffness as follows [9];…”

Section: J= Lmentioning

confidence: 99%

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Adaptive robust force control by disturbance observer

Komada

Nomura

Ishida

et al.

Proceedings of the 1992 International Conference on Industrial Electronics, Control, Instrumentation, and Automation

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This paper proposes a robust force control which adapts to wide parameter variations. A robust force control by disturbance ob server has been proposed successfully. The control system, how ever, becomes unstable if the parameter var iations of manipula tor and environment related to the force control is too large. We propose an environmental stiffness identification to adjust the pa rameters of the force controller and the disturbance observer. Ow ing to the parameter's adjustment, the robust strategy using the disturbance observer becomes fairly stable to the wide stiffness variation. IntroductionForce control has been developed for robots performing contact tasks [1]. During the contact, force response is influ enced by various disturbances to actuator such as gravity force, friction force, and reactive force from outside, and by variations of actuator parameters such as mass and viscosity. Moreover, it is also influenced by parameter variations of environment on which the force is imposed such as mass, viscosity, and stiffness [2]. To obtain accurate force response, the disturbance and the parameter variations of both robot and environment should be compensated.The disturbance and the parameter variations of actua tor have been successfully compensated by using the dist urbance observer. It was applied in control of a direct drive motor and a robot manipulator which is a highly nonlinear control object; and was proved to be valid and useful [3][4][5] [6]. The distur bance observer is of simple design and its application results in the realization of robust control system.The robust force control, however, can not be realized by the conventional disturbance observer, because condition of en vironment on which the force is imposed influences the force re sponse. In order to realize the robust force control, the change of the environment should also be considered. To compensate the parameter variations of environment, we have developed a new observer which estimates the disturbance due to the pa rameter variations of environment, and is termed environment observer[7][8J. The proposed strategy is combination of the dis turbance observer which estimates the disturbance and the pa rameter variations of the actuator, and the environment observer which estimates the parameter variations of the environment. We have also proposed another robust strategy which is based on force-based disturbance observer which has the similar function to the former two observers [7][8].0-7803-0582-5 ,'12$3.00©1992 IEEE Since the control system is fixed to a nominal system by the observers, second derivative of force can be controlled, and quick force response can be obtained. We have also proposed a force control strategy using controller of the second derivative of force[7][8][1O]. It is different from conventional force controllers [1][4][6], because it is based on the second derivative of force.In this paper, we improve the dynamic performance of the robust force control using the disturbance observer. Since wide stiffness change cau...

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Disturbance-observer-based motion control of redundant manipulators using inertially decoupled dynamics

Chung

1999

IEEE/ASME Trans. Mechatron.

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An adaptive force control of redundant manipulator based on joint acceleration controller

Cited by 9 publications

References 8 publications

A design method for manipulator control based on disturbance observer

A design method for manipulator control based on disturbance observer

Adaptive robust force control by disturbance observer

Disturbance-observer-based motion control of redundant manipulators using inertially decoupled dynamics

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