26
是过滤后的回归量矩阵，是过滤扭矩。八条正弦曲线的汇总，1和3的每个关节
都有四条正弦曲线。频率范围从0.2HZ到1HZ都应用在确定PHANToM的8个位置参
数。注意，n条正弦曲线的汇总是不少于2n2的持续激励。PHANToM第一和第三个关节是在PD控制下的，第二个关节被锁在01。PHANToM的参数是用最小二乘法来找到的。
参考文献
[1][Chen, W.H., Ballance, D.J., Gawthorp, P.J., O’Reilly, J.(2000). A nonlinear disturbance observer for robotic manipulators. IEEE Transactionson Industrial Electronics, 47 (August(4)), 932-938; Nikoobin, A., Haghighi, R.(2009). Lyapunov-based nonlinear disturbance observer for serialn-link manipulators .Journal of Intelligent & Robotic Systems,55 (July (2–3)), 135–153].
[2]Adaptive control(Danesh, Sheikholeslam, & Keshmiri, 2005; Kim, Seok, Noh, & Won, 2008), active Kalmanfiltering (Cortesao, 2007; Ji & Sul, 1995), H1 control (Khelfi & Abdessameud, 2007; Sato & Tsuruta, 2006), predictive control (Bauchspiess, Alfaro, & Dobrzanski, 2001; Cassemiro, Rosario, & Dumur,2005) and sliding mode control (Corradinietal., 2012; Parlakci, Jafarov, & Istefanopulos, 2004; Pi & Wang, 2011). [3](Ohnishi, Shibata, & Murakami, 1996).
[4]Table 1 Disturbance observer applications in robotics. Disturbance rejection Independent joint control Zhongyi etal.(2008), Park and Lee(2007), Choi and Kwak(2003), Eom etal.(1997), Komada etal.(1996), and Hu and Muller(1996) Friction estimation and compensation Bona and Indri(2005), Sawut etal.(2001), and Mohammadi, Marquezetal.(2011) Time-delayed and transparent teleoperation control Mohammadi, Tavakolietal.(2011) and Natori etal.(2006, 2007, 2010) Force/torque estimation Sensorless force control Shimada etal.(2010), Katsura etal.(2003), Eom etal.(1998), and Lee etal.(1993) Shadow robot system Katsura etal.(2010) Fault detection Sneider and Frank(1996), Chan (1995), and Ohishi andOhde(1994)
[5](Liu & Peng, 1997).
[6](Choi & Kwak, 2003; Eom, Suh, & Chung, 1997; Hu & Muller, 1996; Komada, Miyakami, Ishida, & Hori, 1996; Park & Lee, 2007; Zhongyi, Fuchun, & Jing, 2008) [7](Bona & Indri, 2005; Sawut, Umeda, Park, Hanamoto, & Tsuji, 2001) [8](Bona & Indri, 2005)
[9](Natori, Tsuji, & Ohnishi, 2006); (Natori, Kubo, & Ohnishi, 2007); (Natori, Tsuji, Ohnishi, Hace, & Jezernik, 2010).
[10](Natori, Tsuji, & Ohnishi, 2006); (Natori, Kubo, & Ohnishi, 2007); (Natori, Tsuji, Ohnishi, Hace, & Jezernik, 2010). [11](Natori et al., 2010).
[12](Eom, Suh, Chung, & Oh, 1998; Katsura, Matsumoto, & Ohnishi, 2003; Lee, Chan, & Mital, 1993; Shimada, Ohishi, Kumagai, & Miyazaki, 2010). [13](Rakotondrabe, Clevy, Rabenorosoa, & Ncir, 2010) [14](Katsura, Matsumoto, & Ohnishi, 2010)
[15](Chan, 1995; Ohishi & Ohde, 1994; Sneider & Frank, 1996)
[16](Bickel & Tomizuka, 1995; Kim & Chung, 2003; Komada, Machii, & Hori, 2000; Liu & Peng, 2000).
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