NDLI: A sliding observer for the elastic modes of the flexible forearm of a two-joint robot arm

Content Provider	IEEE Xplore Digital Library
Author	Ficola, A. La Cava, M. Muraca, P.
Copyright Year	1992
Description	Author affiliation: Istituto di Elettronica, Perugia Univ., Italy (Ficola, A.; La Cava, M.)
Abstract	The problem is considered of estimating the dynamic characteristics of the elastic modes excited by the control input in the flexible forearm of a two-joint robot. The complexity of the nonlinear model of the elastic link is substantially reduced, at least with reference to the estimation problem, by assuming the availability of direct measurements or estimates of the state variables of the rigid component of the motion of both the rigid and elastic link. An observer equation is proposed based on the well-known technique of sliding modes. A strategy for the choice of the observer parameters is developed to guarantee the asymptotic convergence to zero of the components of the estimation error. Several experiments have been carried out by digital simulation to confirm the validity of the proposed sliding mode observer and also its robustness with respect to system parameter variations.
Starting Page	636
Ending Page	639
File Size	236617
Page Count	4
File Format	PDF
ISBN	0780305825
DOI	10.1109/IECON.1992.254558
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-11-13
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion estimation State estimation Observers Sliding mode control Robots Motion measurement Nonlinear equations Convergence Estimation error Digital simulation
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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