Nonlinear observer for flexible joint robots

유연한 관절 로보트에 대한 비선형 관측기

  • 김윤재 (전북대학교 공과대학 전자공학과) ;
  • 임규만 (전북대학교 공과대학 전자공학과) ;
  • 함철주 (전북대학교 공과대학 전자공학과) ;
  • 함운철 (전북대학교 공과대학 전자공학과)
  • Published : 1993.10.01

Abstract

This paper presents an nonlinear observer scheme for flexible joint robot manipulators. This nonlinear observer scheme is based on the sliding mode method. Sliding controllers have recently been shown to feature excellent robustness and performance properties for specific classes of nonlinear tracking problems. Dynamic equations of flexible joint robot manipulators are derived from the Euler-Lagrange equations by forming the corresponding Lagrangian. Simulation results are presented to show the validness of the proposed nonlinear observer scheme.

Keywords