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A method for the state estimation of elastic joint robots by global position measurements
Author(s) -
Nicosia Salvatore,
Tomei Patrizio
Publication year - 1990
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480040606
Subject(s) - observer (physics) , robot , control theory (sociology) , position (finance) , joint (building) , computer science , stability (learning theory) , state (computer science) , exponential stability , link (geometry) , mathematics , engineering , artificial intelligence , algorithm , control (management) , structural engineering , physics , computer network , finance , quantum mechanics , nonlinear system , machine learning , economics
The design of observers for elastic joint robots is investigated. Using some structural properties of the robot dynamics, a model‐based observer is proposed which requires only the knowledge of the link positions. The asymptotic stability of the related error dynamics along with an estimate of the region of attraction are also given. The observer performances are analysed by means of simulation tests.