An observer-based interference estimation approach is presented in which the observer can estimate the total interference torque quickly without complicated computations such as inverse dynamics. The estimated interference is supplied to the servomotor, enabling a robust motion servosystem that is not affected by nonlinear effects to be achieved. Each joint is controlled independently and in a decentralized manner. A description is given of the decentralized control design conception. Simulated and experimental results for a three-degree-of-freedom manipulator are shown.
|Published - 1987 1月 1
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