Experimental comparison of design methods for equivalent mass matrix in motion control system based on workspace observer

This paper investigates a design method for an equivalent mass matrix in motion control based on workspace observer. The equivalent mass matrix implemented in the control system is often designed as a diagonal matrix. On the other hand, a real equivalent mass matrix includes non-diagonal elements. Conventionally, assuming the cut-off frequency as infinity, these elements is ignored. However, actually, since the cut-off frequency is not infinity, the non-diagonal elements can not be ignored. Therefore, in order to improve the control performance, it may be necessary to implement the equivalent mass matrix including the non-diagonal elements. From the background, the experimental comparison about the equivalent mass matrix design is conducted.