NDLI: Sliding Mode Observer Design for Flexible Joint Manipulators

Content Provider	IEEE Xplore Digital Library
Author	Jian Chen Ruifeng Li
Copyright Year	2013
Description	Author affiliation: State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China (Jian Chen; Ruifeng Li)
Abstract	For an industrial robot with flexible joint characteristics, accurate measurement of the position and speed of the link-side information is extremely difficult and costly. The purpose of this study was to design a robust sliding mode observer which can exact estimate the link's state information in the case of only motor position measurement. In the design process of the sliding mode observer, nonlinear uncertainty of the system was separated into two parts: the parameter uncertainty and estimation error, which Based on the flexible joint robot dynamics property. The stability of observer was proved by Lyapunov function, and the appropriate observer gain was obtained by solving the algebraic Riccati equation. The simulation results shown that, the observer accurate estimated the speed and position of the link-side of the flexible joint robot under the condition of only measure position information of the motor position.
Sponsorship	IEEE Nanjing Sect. CIS Chapt.
Starting Page	338
Ending Page	342
File Size	257308
Page Count	5
File Format	PDF
ISBN	9780769550114
e-ISBN	9780769550114
DOI	10.1109/IHMSC.2013.228
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Flexible joint robot Uncertainty Service robots Observers Manipulators Mathematical model Nonlinear uncertainty Joints Lyapunov Sliding mode obser ver
Content Type	Text
Resource Type	Article

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