DocumentCode
1918616
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
fYear
1989
fDate
13-15 Dec 1989
Firstpage
2078
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location
Tampa, FL
Type
conf
DOI
10.1109/CDC.1989.70533
Filename
70533
Link To Document