Title :
Experimental results in state estimation of industrial robots
Author :
Nicosia, S. ; TornambÈ, A. ; Valigi, P.
Author_Institution :
Dipartimento di Ingegneria Elettronica, Seconda Univ. di Roma, Italy
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
Keywords :
Lyapunov methods; industrial robots; state estimation; Lyapunov stability; asymptotic observer; control laws; convergence; decoupled structure; dynamic behavior; high-gain observer; industrial robots; nonlinearities; state estimation; Control systems; Observers; Robot kinematics; Service robots; Stability; State estimation; Testing; Trajectory; Velocity control; Velocity measurement;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203613
