Experimental results in state estimation of industrial robots
- 1 January 1990
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 360-365 vol.1
- https://doi.org/10.1109/cdc.1990.203613
Abstract
A simple asymptotic observer, with linear and decoupled structure, is proposed for the estimation of the generalized velocities of a robotic manipulator. High-gains are used in the attenuation of the nonlinearities characterizing the dynamic behavior of the robot. Lyapunov stability theory is used to prove the convergence of the proposed observer and of the control laws based on such a high-gain observer. The accuracy of the proposed algorithm is verified through some experimental tests.Keywords
This publication has 10 references indexed in Scilit:
- Use of asymptotic observers having-high-gains in the state and parameter estimationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Experimental validation of asymptotic observers for robotic manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Observer design for loop transfer recovery and for uncertain dynamical systemsIEEE Transactions on Automatic Control, 1990
- High-gain observers in the state and parameter estimation of robots having elastic jointsSystems & Control Letters, 1989
- Non-linear control and observation algorithms for a single-link flexible robot armInternational Journal of Control, 1989
- A nonlinear observer for elastic robotsIEEE Journal on Robotics and Automation, 1988
- State and parameter estimation for robotic manipulators using force measurementsIEEE Transactions on Automatic Control, 1987
- An approach to nonlinear feedback control with applications to roboticsIEEE Transactions on Systems, Man, and Cybernetics, 1984
- Initial Experiments on the End-Point Control of a Flexible One-Link RobotThe International Journal of Robotics Research, 1984
- Stability of MotionPublished by Springer Nature ,1967