机器人的非线性扰动观测器设计英文文献和中文翻译(2)

disturbance term (Choi & Kwak, 2003; Eom, Suh, & Chung, 1997; Hu & Muller, 1996; Komada, Miyakami, Ishida, & Hori, 1996; Park & Lee, 2007; Zhongyi, Fuchun, & Jing, 2008)。 Efﬁcient suppression of these disturbances decouples the dynamics of the

joints and allows simple controllers to be designed for each DOF。

Fig。 1。 Block diagram of a typical disturbance observer in a robotic application。

Table 1 Disturbance observer applications in robotics。

Disturbance rejection Independent joint control Zhongyi et al。 (2008), Park and Lee (2007), Choi and Kwak (2003), Eom et al。 (1997),

Komada et al。 (1996), and Hu and Muller (1996)

Friction estimation and compensation Bona and Indri (2005), Sawut et al。 (2001), and Mohammadi, Marquez et al。 (2011) Time-delayed and transparent teleoperation control Mohammadi, Tavakoli et al。 (2011) and Natori et al。 (2006, 2007, 2010)

Force/torque estimation Sensorless force control Shimada et al。 (2010), Katsura et al。 (2003), Eom et al。 (1998), and Lee et al。 (1993) Shadow robot system Katsura et al。 (2010)

Fault detection Sneider and Frank (1996), Chan (1995), and Ohishi and Ohde (1994)

and compensation (Bona & Indri, 2005; Sawut, Umeda, Park, Hanamoto, & Tsuji, 2001)。 In Mohammadi, Marquez, and Tavakoli (2011), the authors proposed a nonlinear disturbance observer- based control law that guaranteed asymptotic trajectory and dis-

turbance tracking in the presence of slow-varying disturbances。

One important aspect of disturbance observer-based friction

compensation schemes is in that they are not based on any particular friction models (Bona & Indri, 2005)。 Disturbance observers have recently been used in time-delayed bilateral

teleoperation in order to improve the transparency of telerobotic systems (Natori, Tsuji, & Ohnishi, 2006); (Natori, Kubo, & Ohnishi, 2007); (Natori, Tsuji, Ohnishi, Hace, & Jezernik, 2010)。 In time- delayed teleoperation, the delayed position/force signals are received from the communication channel in the master and the slave sides。 The time-delayed position/force signals are then added to the output of the disturbance observer in order to provide the master and the slave robots with estimation of the undelayed versions of the position/force signals and thus improve the teleoperation system transparency (Natori et al。, 2010)。 In Mohammadi, Tavakoli, and Marquez (2011), the authors imple- mented a pair of nonlinear disturbance observers in a 4-channel bilateral teleoperation architecture to achieve full transparency in the absence of communication time delays in both free and constrained motions。 In that work, however, the availability of joint acceleration measurements, which is necessary for achieving full transparency, simpliﬁed design of disturbance observers。

Besides disturbance rejection, disturbance observers have

found applications in other robotic contexts。 In many robotic applications, the robot end-effector comes in contact with a 机器人的非线性扰动观测器设计英文文献和中文翻译(2):http://www.youerw.com/fanyi/lunwen_89868.html