The dynamics of the multi-degrees of freedom manipulator is highly nonlinear and the compensationagainst this nonlinearity should be indispensable. This paper proposes the decentralizedjoint control method based on the disturbance observer where the dynamical equation is not directly solved. By using the information of the acceleration, the nonlinear term in the dynamical equation is estimated without the mathematically complicated process, and as a result, the joints are able to be decoupled and controlled independently each other by using even 16 bit microprocessors. The simulated and experimented results are shown in the paper to confirm the industrial viability of this method.
['Masato Nakao', 'Kouhei Ohnishi', 'Kunio Miyachi']
A Robust decentralized joint control based on interference estimation