Robust control of robot manipulators by MIMO disturbance observer

K. Yamada, S. Komada, M. Ishida, T. Hori
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引用次数: 5

Abstract

A robot manipulator control method using disturbance observer in task space and a simple coordinate transformation by the transposed Jacobian matrix has been proposed. The control method can realize a simple control algorithm with less computation power for large degree-of-freedom robot manipulators. However, the inertia variation depending on manipulator configuration is large due to the simplification of the control algorithm. Therefore, the decoupled error of the system, i.e. nondiagonal elements of the input matrix in the state space, caused by compensation error of the disturbance observer influences accuracy of the control system. In this paper, the authors introduce a new MIMO (multi-input-multi-output) disturbance observer, which can regard the nondiagonal elements of the inertia matrix as a control parameter. Moreover, a simple design method for disturbance observer system considering quadratic stability is introduced. The accuracy of the robot manipulator control is improved as compared to that of the conventional disturbance observer system by these strategies.
基于MIMO扰动观测器的机械臂鲁棒控制
提出了一种基于任务空间扰动观测器和简单的转置雅可比矩阵坐标变换的机器人操纵臂控制方法。该控制方法可以实现大自由度机械臂的简单控制算法和较少的计算量。然而,由于控制算法的简化,惯性随机械手构型的变化很大。因此,系统的解耦误差,即由扰动观测器的补偿误差引起的输入矩阵在状态空间中的非对角元素,会影响控制系统的精度。本文提出了一种新的多输入多输出扰动观测器,该观测器以惯性矩阵的非对角元素作为控制参数。此外,还介绍了一种考虑二次稳定性的扰动观测器系统的简单设计方法。与传统的扰动观测器系统相比,这些策略提高了机器人机械手的控制精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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