A Study of Stability and Workspace Decoupling Control Based on Robust Control in Multi-Degrees-of-Freedom Robot.

Abstract

The paper describes a workspace force controller based on disturbance observer. In the multi-degrees-of-freedom robot, either joint space or workspace is selected to construct the distur bance observer. In case the disturbance observer is constructed in the joint space, the total stability of motion controller is independent of the configuration of robot. In the workspace observer-based motion controller, however, the total stability depends on the configuration of robot.