Title :
Observer based control for elastic joint robots
Author :
Jankovic, Mrdjan
fDate :
8/1/1995 12:00:00 AM
Abstract :
In this paper we present an approach to control elastic modes of the robot joints using only measurements of the variables on the rotor side of the transmission. First, a simple and robust observer is proposed to estimate link positions and velocities. The state estimates are used in a fast inner loop to damp oscillations in the joints. Simulations have shown good performance of the observer and the closed loop system in the presence of measurement noise and parameter uncertainties
Keywords :
closed loop systems; flexible structures; manipulators; observers; closed-loop system; elastic joint robots; elastic modes; fast inner loop; joint oscillation damping; link position estimation; link velocity estimation; measurement noise; observer-based control; parameter uncertainties; robust observer; state estimates; Closed loop systems; Feedback loop; Noise measurement; Observers; Position measurement; Robots; Robustness; State estimation; Uncertain systems; Velocity measurement;
Journal_Title :
Robotics and Automation, IEEE Transactions on
