A simple asymptotic observer, with linear and decoupled structure, is proposed for the estimation of the generalized velocities of a robotic manipulator. High-gains are used in the attenuation of the nonlinearities characterizing the dynamic behavior of the robot. Lyapunov stability theory is used to prove the convergence of the proposed observer and of the control laws based on such a high-gain observer. The accuracy of the proposed algorithm is verified through some experimental tests.
Nicosia, S., Tornambe, A., Valigi, P. (1990). Experimental results in state estimation of industrial robots. In Proceedings of the IEEE Conference on Decision and Control (pp.360-365). Piscataway, NJ, United States : IEEE [10.1109/CDC.1990.203613].
Experimental results in state estimation of industrial robots
Nicosia, S.;Tornambe, A.;Valigi, P.
1990-01-01
Abstract
A simple asymptotic observer, with linear and decoupled structure, is proposed for the estimation of the generalized velocities of a robotic manipulator. High-gains are used in the attenuation of the nonlinearities characterizing the dynamic behavior of the robot. Lyapunov stability theory is used to prove the convergence of the proposed observer and of the control laws based on such a high-gain observer. The accuracy of the proposed algorithm is verified through some experimental tests.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
