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This paper proposes a robust PD control scheme for flexible-joint robots based on a disturbance observer (DOB). In this paper, the DOB is applied only to the motor-side dynamics of the robot, and the uncertainties on the motor-side are successfully eliminated. It is shown that the proposed DOB-based approach guarantees global asymptotic stability. To this end, two special treatments are required....
This paper demonstrates DOB-based PD+gravity compensation control for flexible joint robots (FJRs). By virtue of the DOB, the controller can recover global asymptotic stability under the friction. One important difference from the typical DOB implementation is that the nominal signal feedback is required, instead of the real (measured) signal feedback.
This paper proposes a robust control scheme based on a disturbance observer (DOB) for flexible joint robots. In this paper, the DOB is applied only on the motor-side dynamics of the robot, and the uncertainties on the motor-side are successfully eliminated. It is shown that, to guarantee the stability, the estimated motor-side position should be fed back into the controller, which is different from...
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