A nonlinear disturbance observer for robotic manipulators without velocity and acceleration measurements
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abstract
Regardless of the type of application, robot manipulators are frequently subjected to various disturbances, including unmodeled dynamics, uncharacterized friction, unexpected collisions, compliant interaction forces, and varying payloads. Disturbance observers play a crucial role in mitigating and counteracting these perturbations. They serve as force/torque (F/T) estimators in situations where F/T sensors are unavailable for force control applications or in the design of cost-effective robotic systems for interaction tasks. In this paper, we introduce a nonlinear and velocity-independent perturbation observer that represents an enhanced version of the classic Mohammadi’s approach. Here, velocity is estimated through the filtering of robot joint positions. The efficacy of the proposed method is substantiated through a Lyapunov convergence analysis of perturbation/force and velocity estimation errors. Furthermore, the method’s performance is validated through a series of simulation and experimental tests.
