An Observer-Based Feedforward/Feedback Controller for Robotic Manipulators

SOLSONA, JORGE; CHIACCHIARINI, HECTOR; BUSADA, CLAUDIO; OLIVA, ALEJANDRO RAUL

Cordoba

Congreso; IV Jornadas Argentinas de Robótica; 2006

Universidad Tecnológica Nacional - Facultad Regional Córdoba

Abstract: 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.