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.
paper
Flexible manipulators; Robotic arms
English
61st IEEE Conference on Decision and Control, CDC 2022
2022
Proceedings of the IEEE Conference on Decision and Control
9781665467612
2022
6
738
743
none
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].
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10281/440167
Citazioni
  • Scopus 0
  • ???jsp.display-item.citation.isi??? 0
Social impact