期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2021
卷号：12
期号：7
DOI：10.14569/IJACSA.2021.0120759
语种：English
出版社：Science and Information Society (SAI)
摘要：This paper describes a technique for addressing the issue of instability within force controller by developing a model of a bilateral master-slave haptic system that incorporates a Disturbance Observer (DOB) in a robotic simulation. The suggested modeling is used in conjunction with conventional controllers to be correcting undesired noise that occurs inside the working system of a particular joint of the youBot arm. To acquire the target position, the controller will additionally compensate for interference by changing its position response. Two tests were carried out to examine and compare the system’s feedback that employed the proposed approach and another system with the conventional and standard-setting. The experimental findings demonstrate the resilience of the suggested system, as the system integrated with observers is more precise and faster. All of the system feedbacks from conducted experiments are measured in the simulation platform.
关键词：Force and position controller; disturbance observer; simulated bilateral system; adaptive control; manipulator arm
