Improved measurement/estimation technique for flexible link robot arm control

Abstract

The two objectives of this paper are: (1) to study the effects of truncation of the infinite series in the assumed mode shapes approach for flexible-link robot arms; and (2) to design an improved Kalman filter for estimation of the rigid and flexible modes for controls purposes. A singular perturbation approach is used to derive an improved reduced-order model that does not correspond to simply truncating the infinite series, but includes some additional information about the neglected residual modes. Then, a second time-scale separation is used to design a slow/fast Kalman filter with improved performance for flexible-link arms.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>