Computed Torque Control Method is known very well as method to compensate complex non-lineality and coupling of multi-link robot maniuplator. In this method, it is necessary to determine a precise dynamic model and to estimate model parameters.
This paper proposes a disturbance compensation method for trajectory control of robot manipulator to compensate unknown dynamics such as friction for which we can not get mathematical expression and parameters precisely.
Although the disturbance compensation method has been designed in continuous-time system, a discrete-time control algorithm is necessary to implement to an actual system.
This paper proposes a new discrete-time control algorithm of the disturbance compensation method with regard to both a discretetime dead-time effect and noise reduction.
To evaluate the new control algorithm, it is applied to a parallel link robot arm. The experimental results show improvement of trajectory tracking performance in low frequency domain and reveal that this method can reduce real-time torque computation since the gravity force, the coriolis and centrifugal force are estimated as disturbance torque to compensate.