Adaptive motion control of a two-link direct drive manipulator using disturbance observer

被引：0
|
作者：
Ratiroch-Anant, P [1 ]
Anabuki, M [1 ]
Hirata, H [1 ]
机构：
[1] King Mongkuts Inst Technol, Fac Engn, Ladkrabang, Thailand
来源：
2002 IEEE REGION 10 CONFERENCE ON COMPUTERS, COMMUNICATIONS, CONTROL AND POWER ENGINEERING, VOLS I-III, PROCEEDINGS | 2002年
关键词：
direct drive manipulator; adaptive motion control; disturbance observer;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The proposed system is realized by appending the disturbance observer to the type-2 servo in order to reduce the tracking error of trajectory control. Furthermore, the adaptive to control is applied control the deterioration of the tracking performance by the variation of payload. It is verified by the practical experiment that the adaptive control is very useful in the case of the nonlinear has small effect compared to the. friction torque.
引用
收藏
页码：1725 / 1728
页数：4
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