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http://dx.doi.org/10.5302/J.ICROS.2014.13.1964

A Compensation Method of an Accelerometer for an Acceleration-based Disturbance Observer Control of a Robot Manipulator  

Bae, Yeong-Geol (Mechatronics Engineering Department, Chungnam National University)
Jung, Seul (Mechatronics Engineering Department, Chungnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.6, 2014 , pp. 651-656 More about this Journal
Abstract
This paper presents a compensation method for an accelerometer to measure acceleration data accurately when a robot manipulator moves slowly. Although the accelerometer works fine under the fast movement of a robot manipulator, low cost accelerometers provide relatively inaccurate acceleration data under slow movements. In order to correct the error of the sensor data in the slow motion, correction factors are obtained experimentally. Then those corrected data are used for the disturbance observer. Experimental studies of the position control of a robot manipulator are conducted by applying the DOB (Disturbance Observer) control using corrected acceleration data.
Keywords
disturbance observer; accelerometer; compensation; robot manipulator;
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Times Cited By KSCI : 3  (Citation Analysis)
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