Title :
End-point sensing and state observation of a flexible-link robot
Author :
Li, Y.F. ; Chen, Xiong Biao
Author_Institution :
Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Kowloon
fDate :
9/1/2001 12:00:00 AM
Abstract :
This paper presents an end-point sensor system and the development of an observer to reconstruct the states of a flexible-link robot. The sensor system includes a tip displacement sensor and an accelerometer. Based on the assumed-models method, an observer is developed using the Kalman filtering algorithm. Experimental results are given to demonstrate the effectiveness of the observer
Keywords :
Kalman filters; displacement control; flexible manipulators; manipulator dynamics; observability; observers; Kalman filter; accelerometer; dynamics; end-point sensor system; flexible-link robot; observer; state estimation; tip displacement; Acceleration; Accelerometers; Kalman filters; Observers; Position measurement; Robot kinematics; Robot sensing systems; Sensor systems; State estimation; Velocity control;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/3516.951373
