Abstract
Requirements for fast and accurate motion in industrial robot manipulators demand more advanced control techniques. To meet this problem, several methods have been reported. The Disturbance Observer (DOB) problem has been widely utilized in high-precision and high-speed motion control applications. However, most works done in this area are based on linear control theories even the dynamic of the manipulators are highly nonlinear. In this paper, a nonlinear disturbance observer is proposed for three-DOF robot manipulators operating in 3D space and the stability analysis of the proposed disturbance observer is performed by using Lyapunov’s method. Using this nonlinear disturbance observer, it does not require an accurate dynamic model to achieve high precision motion control. The effectiveness of the proposed observer is investigated by numerical simulation. The results show that controller with nonlinear disturbance observer has more superior tracking performance, with a wide range of payloads and in the presence of friction.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Chen, W.H.: Disturbance Observer Based Control for Nonlinear Systems. IEEE/ASME Trans. on Mechatronics 9(4), 706–710 (2004)
Yang, Z.J., Tsubakihara, H., Kanae, S., Wada, K., Su, C.Y.: A Novel Robust Nonlinear Motion Controller with Disturbance Observer. In: IEEE Int. Conf. on Control Applications, pp. 320–325 (2006)
Khelfi, M.F., Abdessameud, A.: Robust H-infinity trajectory tracking controller for a 6 Dof PUMA 560 robot manipulator. In: IEEE Int. Conf. on Electric Machines and Drives, vol. 1, pp. 88–94 (2007)
Huh, S.H., Bien, Z.: Robust Sliding Mode Control of a Robot Manipulator Based on Variable Structure-Model Reference Adaptive Control Approach. IET Control Theory and Applications 1(5), 1355–1363 (2007)
Jung, J., Lee, J., Huh, K.: Robust Contact Force Estimation for Robot Manipulators in Three-dimensional space. Proc. of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 220(9), 1317–1327 (2006)
Piraisoodi, T., Sadhu, S.: Characteristic Analysis of High Order Disturbance Observer. IEEE INDICON, pp. 431–436 (2005)
Katsura, S., Matsumoto, Y., Ohnishi, K.: Analysis and Experimental Validation of Force Bandwidth for Force Control. IEEE Trans. on Industrial Electronics 53(3), 922–928 (2006)
Lue, Y.S., Lin, S.M.: Disturbance-Observer-Based Adaptive Feedforward Cancellation of Torque Ripples in Harmonic Drive Systems. Journal of Electrical Engineering 90(2), 95–106 (2007)
Xiong, Y., Saif, M.: Unknown Disturbance Inputs Estimation Based on a State Functional Observer Design. Automatica 39, 1389–1398 (2003)
Kravaris, C., Sotiropoulos, V., Georgiou, C., Kazantzis, N., Xiao, M., Krener, A.J.: Nonlinear observer design for state and disturbance estimation. Journal of Systems & Control Letters 56, 730–735 (2007)
Chen, W.H., Balance, D.J., Gawthrop, P.J., O’Reilly, J.: A Nonlinear Disturbance Observer for Robotic Manipulators. IEEE Trans. on Industrial Electronics 47(4), 932–938 (2000)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Korayem, M.H., Haghighi, R. (2008). Nonlinear Disturbance Observer for Robot Manipulators in 3D Space. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_3
Download citation
DOI: https://doi.org/10.1007/978-3-540-88513-9_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
eBook Packages: Computer ScienceComputer Science (R0)