| Abstract |
The robot system represents a class of non-linear, time-varying multiinput,
multioutput dynamic system for which different control methods have been proposed. The difficulty of model based referenced control methods arises in the calculus of robot model due to parameter uncertainties. A method to determine the external torques using a disturbance observer is proposed. The input signals of the disturbance observer are: the actuating motor
current and angular velocity, or position. The estimated disturbance obtained from the observer system is further used in a feedback control structure for disturbance compensation. In order to obtain good tracking properties, a predictive speed controller and a position controller are considered separately. The performances of the system, in the case of a two degrees of freedom robot actuated with de motors, are presented. |
