Control of robots with elastic joints: deterministic observer and Kalman filter approach

Abstract

The authors extend the idea of a fourth-order model of an elastic link and introduce two complementary ways of controlling such systems. In the case of measurable joint forces/torques, they propose a control law based on a deterministic observer whose job is to recover immeasurable components of the state vector. If the forces/torques are not measurable, they propose a Kalman filter technique which uses the manipulator's model to recover the unknown states of the system. Simulation results are presented. The example used is a 6-link manipulator, UMS-2. The results encourage implementation of these control structures on a real system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>