Abstract
In this paper we propose a simple observer, with linear and decoupled structure, for the estimation of the generalized velocities of a rigid robotic manipulator. High-gain output injections are used in the attenuation of the effects of the non-linearities characterizing the dynamic behaviour of the robot upon the dynamic behaviour of the estimation errors. The Liapunov stability theory has been used to prove the practical stability of the error dynamics, in case of open-loop observers, and the asymptotic stability of the closed loop robotic system, in case of observer-based control laws.
This work was supported by CNR funds, under contract n. 89.00531.67
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Nicosia, S., Tornambè, A., Valigi, P. (1991). Observers in the control of rigid robots. In: Canudas de Wit, C. (eds) Advanced Robot Control. Lecture Notes in Control and Information Sciences, vol 162. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0039277
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DOI: https://doi.org/10.1007/BFb0039277
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