Design of a Disturbance Observer for a Two-Link Manipulator With Flexible Joints

This brief proposes a method for designing a disturbance observer (DOB) to decouple joint interactions in robot dynamics with nonlinearity. The traditional DOB based on filter design theory has limited performance since the cut-off frequency of its Q-filter is the only tunable parameter to deal with...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2014-03, Vol.22 (2), p.809-815
Main Authors: Yun, Jong Nam, Su, Jian-Bo
Format: Article
Language:English
Subjects:
Design engineering
Disturbance observer (DOB)
Disturbance observers
Disturbances
H_{\infty} standard control problem
low-pass filter
Manipulators
Optimization
Retarding
Robot arms
Robot dynamics
robust motion control
two degrees-of-freedom
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Summary:This brief proposes a method for designing a disturbance observer (DOB) to decouple joint interactions in robot dynamics with nonlinearity. The traditional DOB based on filter design theory has limited performance since the cut-off frequency of its Q-filter is the only tunable parameter to deal with disturbance suppression and model uncertainty. In this brief, a robust optimal design method is developed for the DOB, which can achieve optimal performance of suppressing disturbance by systematically shaping its Q-filter. Simulation results of application to a two-link manipulator with flexible joints show the improvements in disturbance suppression, which illustrates the validity of the proposed method.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2013.2248733