Motion Control Based on Workspace Observer with Estimated Equivalent Mass

Abstract

This paper proposes an improvement method of control performance based on workspace observer for motion control of multi-degrees-of-freedom manipulator. It is theoretically confirmed that the equivalent mass in workspace may be fluctuant due to the posture change of the manipulator. Then, it is experimentally shown that the motion control performance would be improved, if the estimated equivalent mass from kinematics is utilized both to the nominal equivalent mass in workspace observer and the nominal equivalent mass for the force reference generation.