A first procedure is proposed in order to build up discrete-time observers for robotic manipulators having elastic joints. The procedure is developed with regard to a more general class of nonlinear systems. The paper is completed with a case study in which the effectiveness of the proposed technique is tested in simulation.
Nicosia, S., Tornambe, A. (1989). Discrete time observer for a robot having elastic joints. In IFAC Symposium on Robot Control (pp.91-96). Elmsford, NY, United States : Pergamon Press Inc.
Discrete time observer for a robot having elastic joints
Nicosia, S.;Tornambe, A.
1989-01-01
Abstract
A first procedure is proposed in order to build up discrete-time observers for robotic manipulators having elastic joints. The procedure is developed with regard to a more general class of nonlinear systems. The paper is completed with a case study in which the effectiveness of the proposed technique is tested in simulation.File in questo prodotto:
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