Elsevier

Automatica

Volume 27, Issue 5, September 1991, Pages 859-864
Automatica

Brief paper
Sliding observers for robot manipulators

https://doi.org/10.1016/0005-1098(91)90041-YGet rights and content

Abstract

High precision measurements of the joint displacements are available on robot manipulators. By 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 accurately estimating the speed from available measurements. This paper presents a new approach for estimating the state vector of a robot manipulator, using nonlinear sliding mode observers. Robot models with and without friction are analysed. In both cases, convergence conditions for the observed state vector are given. The results are strongly based on the physical properties of the robot, such as energy conservation and the quadratic nature of the Coriolis and centripetal forces.

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The original version of this paper was presented at the IFAC Symposium on Nonlinear Control System Design which was held in Capri, Italy during August, 1989. The published proceedings of this IFAC Meeting may be ordered from Pergamon Press plc, Headington Hill Hall, Oxford OX3 0BW, U.K. This paper was recommended for publication in revised form by Associate Editor C. C. Hang, under the direction of Editor P. C. Parks.

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