DocumentCode :
3424383
Title :
A sliding observer for the elastic modes of the flexible forearm of a two-joint robot arm
Author :
Ficola, A. ; La Cava, M. ; Muraca, P.
Author_Institution :
Istituto di Elettronica, Perugia Univ., Italy
fYear :
1992
fDate :
9-13 Nov 1992
Firstpage :
636
Abstract :
The problem is considered of estimating the dynamic characteristics of the elastic modes excited by the control input in the flexible forearm of a two-joint robot. The complexity of the nonlinear model of the elastic link is substantially reduced, at least with reference to the estimation problem, by assuming the availability of direct measurements or estimates of the state variables of the rigid component of the motion of both the rigid and elastic link. An observer equation is proposed based on the well-known technique of sliding modes. A strategy for the choice of the observer parameters is developed to guarantee the asymptotic convergence to zero of the components of the estimation error. Several experiments have been carried out by digital simulation to confirm the validity of the proposed sliding mode observer and also its robustness with respect to system parameter variations
Keywords :
State estimation; digital simulation; robots; state estimation; variable structure systems; asymptotic convergence; digital simulation; dynamic characteristics; elastic modes; estimation error; flexible forearm; nonlinear model; sliding observer; two-joint robot arm; Convergence; Digital simulation; Estimation error; Motion estimation; Motion measurement; Nonlinear equations; Observers; Robots; Sliding mode control; State estimation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0582-5
Type :
conf
DOI :
10.1109/IECON.1992.254558
Filename :
254558
Link To Document :
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