ISSN:
1573-0409
Keywords:
Asymptotic observers
;
robots
;
high-gains
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract A simple asymptotic observer is proposed for the estimation of the generalized veocities of a robotic manipulator. The singular perturbation theory is used in the stability analysis of the error dynamics. High-gains are used in the attenuation of the nonlinearities characterizing the dynamic behaviour of the robot. The accuracy of the proposed algorithm is illustrated in simulation runs and verified through some experimental tests.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01257771
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