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.
Robot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium
Karlsruhe, FRG, null
1988
IFAC, Technical Committee on Computers
Rilevanza internazionale
1989
Settore ING-INF/04 - AUTOMATICA
English
Engineering (all)
Intervento a convegno
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.
Nicosia, S; Tornambe, A
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/193855
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