Robot manipulators in which the joints exhibit a certain amount of elasticity are discussed. The model of such robots is highly nonlinear, and, generally, available techniques to build nonlinear observers do not apply. A procedure is proposed to construct approximate nonlinear observers in which a recent approach to derive observers based on the geometric nonlinear control theory is used in connection with an approximation technique. In addition, the conditions under which an exact observer exists are derived. Some examples are given in which simulation tests assure a good performance even when the observer is connected to a control system. © 1988 IEEE
Nicosia, S., Tomei, P., Tornambé, A. (1988). A Nonlinear Observer for Elastic Robots. IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 4(1), 45-52 [10.1109/56.770].
A Nonlinear Observer for Elastic Robots
Nicosia, Salvatore;Tomei, Patrizio;Tornambé, Antonio
1988-01-01
Abstract
Robot manipulators in which the joints exhibit a certain amount of elasticity are discussed. The model of such robots is highly nonlinear, and, generally, available techniques to build nonlinear observers do not apply. A procedure is proposed to construct approximate nonlinear observers in which a recent approach to derive observers based on the geometric nonlinear control theory is used in connection with an approximation technique. In addition, the conditions under which an exact observer exists are derived. Some examples are given in which simulation tests assure a good performance even when the observer is connected to a control system. © 1988 IEEEI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
