A nonlinear observer for elastic robots

S. Nicosia, P. Tomei, A. Tornambè
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引用次数: 103

Abstract

Robot manipulators in which the joints exhibit a certain amount of elasticity are discussed. The model of such robots is highly nonlinear, and available techniques to build nonlinear observers generally do not apply. A procedure to construct approximate nonlinear observers is proposed that uses a recent approach to deriving observers based on geometric nonlinear control theory together with an approximation technique. The conditions under which an exact observer exists are derived. Some examples are given for which simulation tests assure a good performance even when the observer is connected to a control system. >
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弹性机器人的非线性观测器
讨论了关节具有一定弹性的机械臂。这类机器人的模型是高度非线性的,现有的建立非线性观测器的技术通常不适用。提出了一种构造近似非线性观测器的方法,该方法采用基于几何非线性控制理论和近似技术的最新方法来推导观测器。导出了精确观察者存在的条件。给出了一些实例,通过仿真测试,即使观测器连接到控制系统,也能保证良好的性能。>
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