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.
Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6)
Honolulu, HI, USA, null
1990
IEEE Control Systems Soc
Rilevanza internazionale
1990
Settore ING-INF/04 - AUTOMATICA
English
Chemical Health and Safety; Control and Systems Engineering; Safety, Risk, Reliability and Quality
Intervento a convegno
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].
Nicosia, S; Tornambe, A; Valigi, P
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/193869
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 43
  • ???jsp.display-item.citation.isi??? 34
social impact