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Trajectory Tracking Control of a Flexible Mobile Robot using Disturbance Observer
Hiroyuki Kojima*, Toshihilo Hashimoto** and Sadao Shimoyama***
*Department of Mechanical System Engineering, Gunma University, Kiryu, Gunma 376-8515, Japan
**Material Handling Equipment Design Dept., Hitachi Kiden Kogyo, Ltd., 908, Tadakari-cho, Ota-shi, 373-0011, Japan
***Manufacturing Engineering Research Center, Toshiba Corporation, 33, Shin-Isogo-cho, Isogo-ku, Yokohama, 235-0017, Japan
Received:January 19, 1998Accepted:June 5, 1998Published:June 20, 1998
Keywords:Flexible mobile robot, Disturbance observer, Trajectory tracking control
Abstract
This paper describes trajectory tracking control for a flexible mobile robot using a disturbance observer. The robot consists of a wheeled mobile mechanism and a flexible structure of four flexible beams and a work table. Trajectory tracking control is compound control of a disturbance observer and feedforward compensation two-degree-of-freedom (2DOF) controller. The feedforward compensation 2DOF controller consists of a feedforward controller and a state feedback controller. Experimental and numerical simulation results confirmed that trajectory tracking control of the robot work table is possible with trajectory control using the disturbance observer.
Cite this article as:H. Kojima, T. Hashimoto, and S. Shimoyama, “Trajectory Tracking Control of a Flexible Mobile Robot using Disturbance Observer,” J. Robot. Mechatron., Vol.10 No.3, pp. 272-277, 1998.Data files:
