Disturbance rejection by PI estimator in position robot control

Abstract

Disturbance rejection by a PI estimator in position robot control is a well-known control technique. With proper locations of the estimator poles, it enables high performance of the system. This paper presents an analysis that gives some instructions for determining the controller parameters. These instructions can be used when implementing the PI estimator on general motion control systems and not only on robotic manipulators. The results of mathematical analysis were successfully proven by experiments on a 3-DOF Puma like direct drive robot.