DocumentCode
1700102
Title
Study of nonlinear observers for manipulator arms with flexible joints
Author
Sicard, Pierre ; Léchevin, Nicolas
Author_Institution
Dept. of Electr. Eng., Quebec Univ., Trois-Rivieres, Que., Canada
Volume
1
fYear
1995
Firstpage
71
Abstract
The control of such arms generally requires the reconstruction of a part or the whole of the state of the system. The authors study and compare three state observers for this application, namely a passive observer and a modified Kalman filter using the nonlinear model of the system, and an extended Kalman filter using linearisation of the model. They discuss the field of application, the performance and general properties of these observers
Keywords
Kalman filters; manipulators; nonlinear control systems; observers; extended Kalman filter; flexible joints; manipulator arms; model linearisation; modified Kalman filter; nonlinear model; nonlinear observers; passive observer; state observers; Analytical models; Convergence; Couplings; Kalman filters; Robots; Signal resolution; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Computer Engineering, 1995. Canadian Conference on
Conference_Location
Montreal, Que.
ISSN
0840-7789
Print_ISBN
0-7803-2766-7
Type
conf
DOI
10.1109/CCECE.1995.528076
Filename
528076
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