Robot Control via Nonlinear Observer

摘要

High precision measurements of joint displacements are available on robot manipulators. In contrast, the velocity measurements obtained through tachometers are in many cases contaminated by noise. It is therefore economically and technically interesting to investigate the possibility of stabilize the robot dynamics using only direct available measurements such as the angular positions. This paper deals with the problem of trajectory tracking in robot motion via nonlinear observers. Local conditions for exponential stability of the closed-loop system are given.KeywordsRobot ManipulatorHigh Precision MeasurementObserver GainRobot DynamicNonlinear ObserverThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.