A method for the state estimation of elastic joint robots by global position measurements

1 November 1990

journal article
research article
Published by Wiley in International Journal of Adaptive Control and Signal Processing

Vol. 4 (6) , 475-486
https://doi.org/10.1002/acs.4480040606

Abstract

The design of observers for elastic joint robots is investigated. Using some structural properties of the robot dynamics, a model‐based observer is proposed which requires only the knowledge of the link positions. The asymptotic stability of the related error dynamics along with an estimate of the region of attraction are also given. The observer performances are analysed by means of simulation tests.

Keywords

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