Dexterous manipulation in multi-degree-of-freedom based on modal-space disturbance compensation

This paper defines ¿modal space disturbance¿, which is the position error of between environment in real world and virtual system in modal space. The virtual system motions are abstracted by using mode quarry matrix. In addition, this paper proposes ¿modal space disturbance observer¿ which estimates modal space disturbance. An estimate value of modal space disturbance is calculated, it becomes possible to compensate modal space disturbance. Moreover, when propose method is used, it is possible to compensate the position error of between unknown system and environment without calculating complicated arrangement of system. The experimental results show the viability of the proposed method.