Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Compensation for Position Control of a Robot Manipulator Using a Modified Disturbance Observer (DOB) based on an Accelerometer

가속도 센서기반의 변형된 외란 관측기를 이용한 로봇 매니퓰레이터의 위치 제어의 보상

  • Bae, Yeong-Geol (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 배영걸 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2013.02.28
  • Accepted : 2013.04.02
  • Published : 2013.05.01
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Abstract

This paper presents a modified disturbance observer (MDOB) for controlling two arms of a manipulator designed for a home service robot. The MDOB is slightly different from the original DOB in that it uses an accelerometer to measure acceleration of the robot arm. Then it uses the acceleration to estimate the disturbance to cancel out in the control loop. Relying on the acceleration information of the robot arm, a partial model-based control structure is formed. Experimental studies of position control of 2 DOF robot arm are conducted to evaluate the performance of the proposed position control by an MDOB method.

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References

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