Nonlinear Disturbance Observer Design For Robotic Manipulators

  title={Nonlinear Disturbance Observer Design For Robotic Manipulators},
  author={Alireza Mohammadi and Mahdi Tavakoli and Horacio J. Marquez and Farzad Hashemzadeh},
Robotic manipulators are highly nonlinear and coupled systems that are subject to different types of disturbances such as joint frictions, unknown payloads, varying contact points, and unmodeled dynamics. These disturbances, when unaccounted for, adversely affect the performance of the manipulator. Employing a disturbance observer is a common method to reject such disturbances. In addition to disturbance rejection, disturbance observers can be used in force control applications. Recently… CONTINUE READING
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