Extended active observer for force estimation and disturbance rejection of robotic manipulators

Robotics and Autonomous Systems - Tập 61 - Trang 1277-1287 - 2013
Linping Chan1, Fazel Naghdy1, David Stirling1
1School of Electrical, Computer & Telecommunications Engineering, University of Wollongong, Wollongong NSW 2522, Australia

Tài liệu tham khảo

Hua, 2009, Convergence analysis of teleoperation systems with unsymmetrical time varying delays, IEEE Transactions on Circuits and Systems II: Express Briefs, 56, 240, 10.1109/TCSII.2009.2015364 Chopra, 2008, Synchronization of bilateral teleoperators with time delay, Automatica, 44, 2142, 10.1016/j.automatica.2007.12.002 Ueda, 2004, Force-reflecting bilateral teleoperation with time delay by signal filtering, IEEE Transactions on Robotics and Automation, 20, 613, 10.1109/TRA.2004.825516 Sabanovic, 2007, SMC framework in motion control systems, International Journal of Adaptive Control & Signal Processing, 21, 731, 10.1002/acs.968 K. Natori, R. Kubo, K. Ohnishi, Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer, in: IEEE International Symposium on Industrial Electronics, Cambridge, 2008, pp. 1287–1292. R. Monfaredi, K. Razi, S. Shiri, G. Seied, M. Rezaei, Achieving high transparency in bilateral teleoperation using stiffness observer for passivity control, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006, pp. 1686–1691. F. Mobasser, K. Hashtrudi-Zaad, A model independent force observer for teleoperation systems, in: IEEE International Conference on Mechatronics and Automation, Ontario, Canada, 2005, pp. 964–969. Chen, 2000, A nonlinear disturbance observer for robotic manipulators, IEEE Transactions on Industrial Electronics, 47, 932, 10.1109/41.857974 H.S. Ahn, Synchronization of bilateral teleoperation systems using state and force, in: International Conference on Control, Automation and Systems, Korea, October, 2010, pp. 1362–1365. J.M. Daly, D.W.L. Wang, Bilateral teleoperation using unknown input observers for force estimation, in: American Control Conference, USA, June, 2009, pp. 89–95. Nicosia, 1990, Robot control by using only joint position measurements, IEEE Transactions on Automatic Control, 35, 1058, 10.1109/9.58537 R.H. Middleton, G.C. Goodwin, Adaptive computed torque control for rigid link manipulators, in: IEEE Conference on Decision and Control, Australia, 1986, pp. 68–73. Slotine, 1987, On the adaptive control of robot manipulators, International Journal of Robotics Research, 6, 49, 10.1177/027836498700600303 N. Sadegh, R. Horowitz, Stability analysis of an adaptive controller for robotic manipulators, in: IEEE International Conference on Robotics and Automation, CA, USA, 1987, pp. 1223–1229. J. George, P. Singla, J.L. Crassidis, Stochastic disturbance accommodating control using a Kalman estimator, in: Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, HI, 2008. Cortesão, 2007, On Kalman active observers, Journal of Intelligent and Robotic Systems, 48, 131, 10.1007/s10846-006-9045-5 Cortesao, 2006, Real-time adaptive control for haptic telemanipulation with Kalman active observers, IEEE Transactions on Robotics, 22, 987, 10.1109/TRO.2006.878787 Gourdeau, 1993, Adaptive control of robotic manipulators using an extended Kalman filter, Journal of Dynamic Systems, Measurement, and Control, 115, 203, 10.1115/1.2897401 G. Richard, Adaptive control of robotic manipulators, Ph.D. Thesis, Carleton University, 1990. Kalman, 1961, New results in linear filtering and prediction theory, ASME Journal of Basic Engineering, 83, 95, 10.1115/1.3658902