Robot control with disturbance observers

摘要

A control system consisting of a bank of single input single output controllers and disturbance observers is proposed for the positional control of multidegree of freedom manipulators. Stability of this control system is analysed and relationships between the manipulator characteristics, the closed-loop bandwidths and bounds on the stability region are derived.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>