Title :
A discrete-time observer for flexible-joint manipulators
Author :
Bortoff, Scott A. ; Hung, John Y. ; Spong, Mark W.
Author_Institution :
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
Abstract :
A robust observer-based control scheme is proposed for flexible joint robots. A robust observer, estimating the link acceleration and jerk from position and velocity measurements, is combined with a state feedback control law to achieve robust tracking. Both simulation and experimental results are presented to illustrate the techniques
Keywords :
discrete time systems; feedback; position control; robots; state estimation; discrete-time observer; flexible-joint manipulators; link acceleration; robots; state feedback control; tracking; Acceleration; Accelerometers; Manipulators; Observers; Robots; Robust control; State estimation; State feedback; Velocity control; Velocity measurement;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70533
