DocumentCode
281273
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
fYear
1988
fDate
13-15 Apr 1988
Firstpage
456
Lastpage
461
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;
fLanguage
English
Publisher
iet
Conference_Titel
Control, 1988. CONTROL 88., International Conference on
Conference_Location
Oxford
Print_ISBN
0-85296-360-2
Type
conf
Filename
194198
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