It is shown that the asymptotic inverse kinematic problem can be reduced to the problem of observing the state variables of a certain nonlinear dynamic system. A simple asymptotic observer is used in the state estimation, and the singular perturbation theory is used in the convergence proof of the algorithm. It is also shown that the classical method of Newton and the gradient method can be obtained as particular asymptotic observers.
Tornambe, A. (1990). An asymptotic observer for solving the inverse kinematic problem. In Proceedings of the American Control Conference (pp.1774-1779). Green Valley, AZ, United States : Publ by American Automatic Control Council.
An asymptotic observer for solving the inverse kinematic problem
Tornambe, Antonio
1990-01-01
Abstract
It is shown that the asymptotic inverse kinematic problem can be reduced to the problem of observing the state variables of a certain nonlinear dynamic system. A simple asymptotic observer is used in the state estimation, and the singular perturbation theory is used in the convergence proof of the algorithm. It is also shown that the classical method of Newton and the gradient method can be obtained as particular asymptotic observers.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
