DocumentCode :
2224798
Title :
Exact observer for flexible joint robots
Author :
Benallegue, A. ; Bennani-Hassan, A. ; Chenguel, L.
Author_Institution :
LRP, Paris VI Univ., France
fYear :
1993
fDate :
15-19 Nov 1993
Firstpage :
1600
Abstract :
This paper deals with a problem of state observation of robot manipulators having elastic joints. The authors treat the case when one assumes that the global outputs of the system are link positions and their time derivatives (velocities). The authors propose an exact nonlinear observer based on some properties of the robot and on the known theory of linear observers. This observer reconstructs exponentially all the robot variables. The dynamic behavior of the observation algorithm is illustrated by simulation tests on a two revolute elastic joints robot manipulator
Keywords :
manipulators; state estimation; dynamic behavior; elastic joints; exact observer; flexible joint robots; global outputs; link positions; nonlinear observer; observation algorithm; robot manipulators; state observation; time derivatives; Elasticity; Gears; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Robot kinematics; Springs; Testing; Torque; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-0891-3
Type :
conf
DOI :
10.1109/IECON.1993.339310
Filename :
339310
Link To Document :
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