@article{oai:u-ryukyu.repo.nii.ac.jp:02003800,
 author = {上里, 勝實 and 千住, 智信 and 安次嶺, 伸吾 and 上古殿, 寿 and Uezato, Katsumi and Senjyu, Tomonobu and Ashimine, Shingo and Kamifurutono, Hisashi},
 issue = {50},
 journal = {琉球大学工学部紀要},
 month = {Sep},
 note = {It is expected that a direct drive (DD) robot can keep high positioning accuracy and quick-response and so on, because it does not have back-lash without gear. Therefore, DD robot is working in many plants in recent years.\nHowever, it is found that non-linear force of joints interference is big, so the control performance is inferior. Therefore, to keep the control performance with a high-performance, the control system which can make up for the nonlinear force is needed. In order to make up for the non-linear force, we consider the non-linear force as a disturbance, and we estimate the disturbance using observer, and add it to the control input. However the estimated disturbance torque contains estimation error. So, the control system which can compensate the estimation error is needed. The observer-based robot arm controller with fuzzy reasoning, which can infer the estimation error and can compensate the influence of estimation error, is proposed in this paper., 紀要論文},
 pages = {141--154},
 title = {外乱オブザーバにファジィ推論機能を付加したロボットアームの軌道制御法},
 year = {1995}
}