A simple asymptotic observer is proposed for the estimation of the generalized veocities of a robotic manipulator. The singular perturbation theory is used in the stability analysis of the error dynamics. High-gains are used in the attenuation of the nonlinearities characterizing the dynamic behaviour of the robot. The accuracy of the proposed algorithm is illustrated in simulation runs and verified through some experimental tests. © 1993 Kluwer Academic Publishers.

Nicosia, S., Tornambè, A., Valigi, P. (1993). State estimation in robotic manipulators: Some experimental results. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 7(3), 321-351 [10.1007/BF01257771].

State estimation in robotic manipulators: Some experimental results

Nicosia, S.;Tornambè, A.;Valigi, P.
1993-01-01

Abstract

A simple asymptotic observer is proposed for the estimation of the generalized veocities of a robotic manipulator. The singular perturbation theory is used in the stability analysis of the error dynamics. High-gains are used in the attenuation of the nonlinearities characterizing the dynamic behaviour of the robot. The accuracy of the proposed algorithm is illustrated in simulation runs and verified through some experimental tests. © 1993 Kluwer Academic Publishers.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - Automatica
English
Asymptotic observers; high-gains; robots; Control and Systems Engineering; Software; Mechanical Engineering; Industrial and Manufacturing Engineering; Artificial Intelligence; Electrical and Electronic Engineering
Nicosia, S., Tornambè, A., Valigi, P. (1993). State estimation in robotic manipulators: Some experimental results. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 7(3), 321-351 [10.1007/BF01257771].
Nicosia, S; Tornambè, A; Valigi, P
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/193797
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