Finite-Time Disturbance Observer for Robotic Manipulators

Robotic manipulators may be subject to different types of disturbances such as unknown payloads, unmodeled dynamics, and environment interaction forces. Observing these unknown disturbances in robotic manipulators is fundamental in many robotic applications such as disturbance rejection and sensorle...

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Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 19; no. 8; p. 1943
Main Authors Cao, Pengfei, Gan, Yahui, Dai, Xianzhong
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 25.04.2019
MDPI
Subjects
Automation
Collaboration
Control theory
Design
disturbance observer
estimation
finite-time observer
Friction
human-robot interaction
International conferences
Noise
Response rates
robotic manipulator
Robotics
Robots
China
Germany
estimation
robotic manipulator
human-robot interaction
finite-time observer
disturbance observer
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Summary:Robotic manipulators may be subject to different types of disturbances such as unknown payloads, unmodeled dynamics, and environment interaction forces. Observing these unknown disturbances in robotic manipulators is fundamental in many robotic applications such as disturbance rejection and sensorless force control. In this paper, a novel disturbance observer (DOB) is introduced based on the insights from the finite-time observer (FTO) and robot dynamics. Different from the traditional DOBs, this new observer can provide the capability to track the disturbance within a finite time. The performance of the presented observer is verified by two kinds of typical disturbances for a two-link manipulator with a comparison with several existing DOBs. The simulation results show the rapidity and accuracy of the proposed FTO.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s19081943