USING THE FINITE - TIME DISTURBANCE OBSERVER (FTO) FOR ROBOTIC MANIPULATOR ALMEGA 16

Abstract

This paper presents build a finite time observator (FTO) and applies it to the
Almega16 robot motion system. The main content of the article is to design a
FTO so that the observation of the external noise of the Almega16 robot motion
system will converge to the desired true value over a period of time. finite, is
done by estimating the external noise quantities and then feeding them into the
available Robot controller. The advantage when applying the FTO disturbance
monitor is that it is possible to eliminate the inverse inertia matrix component in
the dynamic equation. The results achieved showed that the Almega16 robot
movement system ensures that the errors of the rotating joints quickly reach
zero with a small transition time, making the closed system stable according to
Lyapunov standards.