基于层次工作空间扰动观测器的增强零空间控制

M. Sorour, T. Murakami
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摘要

工作空间扰动观测器是对成功的关节空间观测器的进一步改进。在推导过程中,假定零空间投影计算可以避免。然而,据报告,工作区版本的性能有限。这项工作表明,零空间投影计算对于在工作空间中实现预期的高性能至关重要。实验结果表明,工作空间扰动观测器具有较高的零空间任务性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Enhanced null space control using hierarchical workspace disturbance observer
Workspace disturbance observer was developed as further enhancement for the successful joint space observer. In its derivation it was assumed that the null space projector computation could be avoided. However limited performance has been reported for the workspace version. This work shows that the null space projector computation is essential for achieving the expected high performance in workspace. Experimental evaluation revealed the extra advantage of the workspace disturbance observer in terms of higher performance of the null space tasks.
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