Abstract
This paper discusses the decoupling control problem of manipulators and proposes a novel control method. This method does not need an accurate model of the robots and only needs input and output information of the robot. The system will be first transformed into a certain integral form by an extensive state observer (ESO) which is used to accurately estimate the systems various states and disturbances inside and outside. Then the decoupling control is investigated by using feed forward compensation. In the end, PD control with gravity compensation and active disturbance rejection control are provided to illustrate effectiveness of the controllers in the simulation.
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Acknowledgments
This paper was partially supported by The Scientific Innovation program(13ZZ115), National Natural Science Foundation (61374040, 61203143), Hujiang Foundation of China (C14002), Graduate Innovation Program of Shanghai (54-13-302-102).
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Song, X., Wang, C. (2016). Decoupling Control of Manipulators Based on Active Disturbance Rejection. In: Jia, Y., Du, J., Li, H., Zhang, W. (eds) Proceedings of the 2015 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48365-7_24
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DOI: https://doi.org/10.1007/978-3-662-48365-7_24
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