DocumentCode
2417594
Title
Exponentially stable observer for elastic joint robots
Author
Jankovic, Mrdjan
Author_Institution
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
fYear
1992
fDate
1992
Firstpage
323
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location
Tucson, AZ
Print_ISBN
0-7803-0872-7
Type
conf
DOI
10.1109/CDC.1992.371729
Filename
371729
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