External Force Disturbance Rejection in Robotic Arms: An Adaptive Approach
Summary :
This paper is devoted to the problem of force sensorless disturbance rejection in robot manipulators. In the proposed approach, the control system uses position sensor signals and estimated values of external forces, instead of force sensor signals. The estimation process is performed via an adaptive force estimator. Then the estimated force vector is utilized to compensate for the force disturbance effect in order to achieve a better trajectory tracking performance. The force estimation is carried out directly using no environment model. Asymptotical stability of the proposed control system is analyzed by the invariant set and Lyapunov direct method establishing an appropriate theorem. Finally, the performance of the proposed control system is verified using numerical simulation.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E88-A No.10 pp.2504-2513
- Publication Date
- 2005/10/01
- Publicized
- Online ISSN
- DOI
- 10.1093/ietfec/e88-a.10.2504
- Type of Manuscript
- Special Section PAPER (Special Section on Nonlinear Theory and its Applications)
- Category
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Mohammad DANESH, Farid SHEIKHOLESLAM, Mehdi KESHMIRI, "External Force Disturbance Rejection in Robotic Arms: An Adaptive Approach" in IEICE TRANSACTIONS on Fundamentals,
vol. E88-A, no. 10, pp. 2504-2513, October 2005, doi: 10.1093/ietfec/e88-a.10.2504.
Abstract: This paper is devoted to the problem of force sensorless disturbance rejection in robot manipulators. In the proposed approach, the control system uses position sensor signals and estimated values of external forces, instead of force sensor signals. The estimation process is performed via an adaptive force estimator. Then the estimated force vector is utilized to compensate for the force disturbance effect in order to achieve a better trajectory tracking performance. The force estimation is carried out directly using no environment model. Asymptotical stability of the proposed control system is analyzed by the invariant set and Lyapunov direct method establishing an appropriate theorem. Finally, the performance of the proposed control system is verified using numerical simulation.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1093/ietfec/e88-a.10.2504/_p
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@ARTICLE{e88-a_10_2504,
author={Mohammad DANESH, Farid SHEIKHOLESLAM, Mehdi KESHMIRI, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={External Force Disturbance Rejection in Robotic Arms: An Adaptive Approach},
year={2005},
volume={E88-A},
number={10},
pages={2504-2513},
abstract={This paper is devoted to the problem of force sensorless disturbance rejection in robot manipulators. In the proposed approach, the control system uses position sensor signals and estimated values of external forces, instead of force sensor signals. The estimation process is performed via an adaptive force estimator. Then the estimated force vector is utilized to compensate for the force disturbance effect in order to achieve a better trajectory tracking performance. The force estimation is carried out directly using no environment model. Asymptotical stability of the proposed control system is analyzed by the invariant set and Lyapunov direct method establishing an appropriate theorem. Finally, the performance of the proposed control system is verified using numerical simulation.},
keywords={},
doi={10.1093/ietfec/e88-a.10.2504},
ISSN={},
month={October},}
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TY - JOUR
TI - External Force Disturbance Rejection in Robotic Arms: An Adaptive Approach
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 2504
EP - 2513
AU - Mohammad DANESH
AU - Farid SHEIKHOLESLAM
AU - Mehdi KESHMIRI
PY - 2005
DO - 10.1093/ietfec/e88-a.10.2504
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E88-A
IS - 10
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - October 2005
AB - This paper is devoted to the problem of force sensorless disturbance rejection in robot manipulators. In the proposed approach, the control system uses position sensor signals and estimated values of external forces, instead of force sensor signals. The estimation process is performed via an adaptive force estimator. Then the estimated force vector is utilized to compensate for the force disturbance effect in order to achieve a better trajectory tracking performance. The force estimation is carried out directly using no environment model. Asymptotical stability of the proposed control system is analyzed by the invariant set and Lyapunov direct method establishing an appropriate theorem. Finally, the performance of the proposed control system is verified using numerical simulation.
ER -
English
