A NONLINEAR OBSERVER FOR FLEXIBLE JOINT ROBOTS

Authors

  • Éva Gyurkovics
  • Dmitri Svirko

Abstract

This paper presents the design of a kind of semiglobal nonlinear observers for flexible joint robots which needs the measurements of the positions of each motor rotor and link. For the proposed observer, the error equation is locally exponentially stable about the origin, with a region of convergence which may be arbitrarily enlarged by a suitable choice of the observer gain. The results are illustrated by simulation examples.

Keywords:

flexible joints, nonlinear systems, nonlinear observers, , exponential stability

How to Cite

Gyurkovics, É., Svirko, D. “A NONLINEAR OBSERVER FOR FLEXIBLE JOINT ROBOTS”, Periodica Polytechnica Mechanical Engineering, 46(2), pp. 127–137, 2002.

Issue

Vol. 46 No. 2 (2002)

Section

Articles