Title :
Experimental validation of asymptotic observers for robotic manipulators
Author :
Nicosia, S. ; Tornambé, A. ; Valigi, P.
Author_Institution :
Dipartimento di Ingegneria Elettronica, II Univ. di Roma Tor Vergata, Italy
Abstract :
A simple asymptotic observer is proposed for the estimation of the generalized velocities of a robotic manipulator. Singular perturbation theory is used in the stability analysis of the error dynamics. High gains are used in the cancellation of the nonlinearities characterizing the dynamic behavior of the robot. The accuracy of the proposed algorithm is illustrated in simulation runs and verified through some experimental tests
Keywords :
dynamics; perturbation techniques; robots; stability; state estimation; asymptotic observers; error dynamics; nonlinearities; perturbation theory; robotic manipulators; stability analysis; Lagrangian functions; Manipulators; Orbital robotics; Parameter estimation; Payloads; Robot control; Robot kinematics; Service robots; Testing; Velocity measurement;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126204
