KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

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Title	A Comparative Study of Tracking Performances on Angular Acceleration Estimation for Time-delayed Control of a Robot Manipulator
Authors	이준우(Joon-Woo Lee) ; 정슬(Seul Jung)
DOI	https://doi.org/10.5370/KIEE.2022.71.1.182
Page	pp.182-188
ISSN	1975-8359
Keywords	Collaborative robot; robot manipulator; time-delayed control; acceleration estimation; tracking performance
Abstract	This paper presents a comparative study of tracking performances between several methods of estimating acceleration signals for a time-delayed controller(TDC) of a robot manipulator. To implement the time-delayed controller completely, there are three requirements: 1) Fast sampling time, 2) constant inertia value, and 3) angular acceleration signals. This paper focuses on the acceleration estimation for TDC. Several methods for angular acceleration estimation are tested: 1) Finite difference method with low pass filtering, 2) Kalman filtering, 3) desired angular acceleration, 4) control input, 5) Jacobian relationship. We experimented five methods on one arm of a dual arm robot to follow a circular trajectory and their tracking performances are compared.

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