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.
Gaz, C., Cristofaro, A., Palumbo, P., De Luca, A. (2022). A Nonlinear Observer for a Flexible Robot Arm and its Use in Fault and Collision Detection. In Proceedings of the IEEE Conference on Decision and Control (pp.738-743). Institute of Electrical and Electronics Engineers Inc. [10.1109/CDC51059.2022.9993103].
A Nonlinear Observer for a Flexible Robot Arm and its Use in Fault and Collision Detection
Palumbo, P;
2022
Abstract
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.
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