Title :
Study of nonlinear observers for manipulator arms with flexible joints
Author :
Sicard, Pierre ; Léchevin, Nicolas
Author_Institution :
Dept. of Electr. Eng., Quebec Univ., Trois-Rivieres, Que., Canada
Abstract :
The control of such arms generally requires the reconstruction of a part or the whole of the state of the system. The authors study and compare three state observers for this application, namely a passive observer and a modified Kalman filter using the nonlinear model of the system, and an extended Kalman filter using linearisation of the model. They discuss the field of application, the performance and general properties of these observers
Keywords :
Kalman filters; manipulators; nonlinear control systems; observers; extended Kalman filter; flexible joints; manipulator arms; model linearisation; modified Kalman filter; nonlinear model; nonlinear observers; passive observer; state observers; Analytical models; Convergence; Couplings; Kalman filters; Robots; Signal resolution; Stability;
Conference_Titel :
Electrical and Computer Engineering, 1995. Canadian Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
0-7803-2766-7
DOI :
10.1109/CCECE.1995.528076
