An observer-based feedforward/feedback controller for robotic manipulators

J. SOLSONA; H. CHIACCHIARINI; C. BUSADA; A. OLIVA

Córdoba, Argentina

Congreso; IV Jornadas Argentinas de Robótica; 2006

This paper presents a nonlinear control strategy for robotic manipulators. The controller combines a nonlinear feedback law with a feedforward one. In order to reduce the number of sensors a nonlinear observer is used to estimate both states and disturbances from measured variables. In this way, an observer-based feedback/feedforward controller is designed. The proposed controller is applied to a two-link manipulator for illustrating its performance.