A nonlinear observer is presented for the estimation of the joint velocities and of the deformation modes and their rates for a two-link flexible robot arm, using only motor encoders and a tip position sensor. The state observer can be used then for trajectory tracking control. By monitoring the mismatch between measured and estimated outputs, we can also detect the occurrence of permanent or intermittent system anomalies such as actuator faults or link collisions.
2022, 2022 IEEE 61st Conference on Decision and Control (CDC), Pages 738-743
A Nonlinear Observer for a Flexible Robot Arm and its Use in Fault and Collision Detection (04b Atto di convegno in volume)
Gaz C, Cristofaro A, Palumbo P, De Luca A
Gruppo di ricerca: Robotics