1A1-A18 State and Disturbance Observer for Serial Two-link Two-inertia System based on Physical Parameter Estimation

Abstract

In this paper, we propose a multivariable state and disturbance observer for a SCARA-type planer two-link robot arm with elastic reduction gears, which is treated as a serial two-link two-inertia system. We have already proposed the accurate estimation method for the physical parameters of the two-link arm. The proposed observer is designed by using the physical parameters that include motor inertias, link inertias, joint-friction coefficients and joint-spring coefficients. The off-line estimates using the data of the two-link arm have shown the effectiveness of the proposed observer.