Infinite dimensional observer for a flexible robot arm with a tip load

Abstract

Abstract This note addresses observer design for a flexible robot arm with a tip load. The robot arm is modeled as an Euler–Bernoulli beam. The beam is clamped to a motor at one end and attached to a force actuator at the other. Based on boundary measurements, an exponentially stable observer is proposed. The existence, uniqueness, and stability of solutions of the observer are proven using semigroup theory. The results are illustrated by simulation. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society