Inertia-related coupling torque compensator for disturbance observer based position control of robotic manipulators

Abstract

We propose an inertia-related coupling torque (IRCT) compensator for disturbance observer (DOB)-based position control of multi-link robotic manipulators. The proposed compensator reduces the DOB estimation error that is due to input with high-frequency components. To analyze the compensated system, the state space model is converted to singular perturbation form and the stability of the proposed system is also addressed. Numerical simulations and experimental results show the effectiveness of the proposed compensator.