Compensation for a long arm payload by a non model-based disturbance observer

This paper presents a compensation technique for unknown payloads of extra-long arms of a mobile manipulator aimed for home services. In the Cartesian movements of robot arms, linear acceleration can be measured by an accelerometer and be used to estimate the disturbance configured in the disturbance observer (DOB) scheme. Here, it is assumed that robot model parameters are totally unknown. Experimental studies are conducted to confirm that the acceleration-based DOB improves the tracking performance of the robot arm in the Cartesian space.