Title :
Exponentially stable observer for elastic joint robots
Author :
Jankovic, Mrdjan
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Abstract :
The problem of observer design for elastic joint robots where link positions and velocities are measured is considered. A Kalman filter-based observer for the elastic joint robots is proposed. Using some structural properties of the robot model, global exponential stability of the estimation error is proved. Simulation results show fast convergence of the estimation error to zero with moderate values of the observer gain
Keywords :
Kalman filters; State estimation; convergence; robots; state estimation; Kalman filter; elastic joint robots; estimation error; global exponential stability; observer design; observer gain; Actuators; Convergence; Elasticity; Estimation error; Friction; Kalman filters; Manipulators; Nonlinear systems; Position measurement; Robots; Springs; Stability; Symmetric matrices; US Department of Energy; Velocity measurement;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371729
