Adaptive motion control of a two-link direct drive manipulator using disturbance observer

Abstract

The proposed system is realized by appending the disturbance observer to the type-2 servo in order to reduce the tracking error of trajectory control. Furthermore, the adaptive control is applied to control the deterioration of the tracking performance by the variation of payload. It is verified by the practical experiment that the adaptive control is very useful in the case of the nonlinear torque has small effect compared to the friction torque.