Title :
Improved measurement/estimation technique for flexible link robot arm control
Author :
Lin, J. ; Lewis, F.L.
Author_Institution :
Automation & Robotics Res. Inst., Texas Univ., Arlington, TX, USA
Abstract :
The two objectives of this paper are: (1) to study the effects of truncation of the infinite series in the assumed mode shapes approach for flexible-link robot arms; and (2) to design an improved Kalman filter for estimation of the rigid and flexible modes for controls purposes. A singular perturbation approach is used to derive an improved reduced-order model that does not correspond to simply truncating the infinite series, but includes some additional information about the neglected residual modes. Then, a second time-scale separation is used to design a slow/fast Kalman filter with improved performance for flexible-link arms
Keywords :
Kalman filters; filtering and prediction theory; large-scale systems; manipulators; perturbation techniques; series (mathematics); state estimation; Kalman filter; assumed mode shapes approach; flexible link robot arm; flexible modes; infinite series; neglected residual modes; reduced order model; rigid modes; second time scale separation; singular perturbation; state estimation; Arm; Automatic control; Books; Feedback control; Lifting equipment; Pollution measurement; Robot control; Robotics and automation; Shape; Vibrations;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325072
