控制理论(社会学)
非线性系统
补偿(心理学)
观察员(物理)
扭矩
控制工程
计算机科学
机器人
机械手
工程类
人工智能
物理
控制(管理)
精神分析
热力学
量子力学
心理学
作者
Wenhua Chen,D.J. Ballance,P.J. Gawthrop,J. O’Reilly
出处
期刊:IEEE Transactions on Industrial Electronics
[Institute of Electrical and Electronics Engineers]
日期:2000-01-01
卷期号:47 (4): 932-938
被引量:1374
摘要
A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DOs, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, sensorless torque control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator. Both simulation and experimental results show the NDO works well.
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