A simple asymptotic observer is proposed for the estimation of the generalized veocities of a robotic manipulator. The singular perturbation theory is used in the stability analysis of the error dynamics. High-gains are used in the attenuation of the nonlinearities characterizing the dynamic behaviour of the robot. The accuracy of the proposed algorithm is illustrated in simulation runs and verified through some experimental tests.
State estimation in robotic manipulators: Some experimental results
VALIGI, Paolo
1993
Abstract
A simple asymptotic observer is proposed for the estimation of the generalized veocities of a robotic manipulator. The singular perturbation theory is used in the stability analysis of the error dynamics. High-gains are used in the attenuation of the nonlinearities characterizing the dynamic behaviour of the robot. The accuracy of the proposed algorithm is illustrated in simulation runs and verified through some experimental tests.File in questo prodotto:
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