External Force Disturbance Rejection in Robotic Arms: An Adaptive Approach


IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E88-A   No.10   pp.2504-2513
Publication Date: 2005/10/01
Online ISSN: 
DOI: 10.1093/ietfec/e88-a.10.2504
Print ISSN: 0916-8508
Type of Manuscript: Special Section PAPER (Special Section on Nonlinear Theory and its Applications)
adaptive control,  robotic arm,  force estimation,  disturbance rejection,  Lyapunov direct method,  invariant set theorems,  

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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.