Title :
An approximate asymptotic observer for robots having elastic joints
Author :
Nicosia, S. ; Tomei, P. ; Tornambe, A.
Author_Institution :
Dip. Ingegneria Elettronica, Roma Univ., Italy
Abstract :
Presents a procedure to design nonlinear observers for robots with elastic joints. This observer estimates the whole state vector of a manipulator by using only the measurements of the joint global displacements and their time rates. With reference to a particular two revolute joint robot some simulation tests to verify the goodness of the observer are reported
Keywords :
State estimation; displacement measurement; robots; state estimation; approximate asymptotic observer; displacement measurement; elastic joints; joint global displacements; nonlinear observers; state estimation;
Conference_Titel :
Control, 1988. CONTROL 88., International Conference on
Conference_Location :
Oxford
Print_ISBN :
0-85296-360-2
