OBSERVER-BASED CONTROL FOR ELASTIC JOINT ROBOTS

被引：36
|
作者：
JANKOVIC, M [1 ]
机构：
[1] WASHINGTON UNIV, DEPT SYST SCI & MATH, ST LOUIS, MO 63130 USA
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 04期
关键词：
D O I：
10.1109/70.406947
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：618 / 623
页数：6
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