Sliding observers for robot manipulators
Sliding observers for robot manipulators
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DOI：
10.1016/0005-1098(91)90041-y
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发表时间：
1989-06
期刊：
影响因子：
--
通讯作者：
C. C. Wit-C.;J. Slotine
中科院分区：
文献类型：
--
作者：
C. C. Wit-C.;J. Slotine
机器人操纵器上提供关节位移的高精度测量。相比之下，通过转速计获得的速度测量在许多情况下受到噪声的污染。因此，研究从现有测量中准确估计速度的可能性在经济上和技术上都是有意义的。本文提出了一种利用非线性滑模观测器估计机械手状态向量的新方法。分析了有摩擦和无摩擦的机器人模型。在这两种情况下，都给出了观测状态向量收敛的条件。结果很大程度上是基于机器人的物理属性，如能量守恒以及科里奥利力和向心力的二次型性质。
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.