Robust position control of manipulators based on disturbance observer and inertia identifier in task space

摘要

A robust and high speed response position control strategy is proposed based on acceleration control in task space. A disturbance observer in task space is used to control acceleration. The order of the disturbance observer is increased to suppress the disturbance of the robot manipulator effectively. An inverse kinematics including an inertia matrix in task space and a transposed Jacobian matrix is tested. The inertia matrix is set at nominal value in order to reduce the computation time of the inverse kinematics because the influence of the inertia variation is compensated by the disturbance observer. Moreover, the nominal value of the inertia matrix in task space is renewed by an estimated inertia by an inertia identifier in order to adapt to wide inertia variation. This algorithm can realize high performance control with a short control period. Experimental results show the effectiveness of the proposed strategy.