Enhanced measurement and estimation methodology for flexible link arm control

Abstract

Abstract The two objectives of this article are (1) to study the effects of truncation of the infinite series in the assumed mode shapes approach for flexible‐link robot arms, and (2) to design an improved Kalman filter for estimation of the rigid and flexible modes for controls purposes. A singular perturbation approach is used to derive an improved reduced‐order model that does not correspond simply to truncating the finite series, but includes some additional information about the neglected residual modes. Then, a second time‐scale separation is used to design a slow/fast Kalman filter with improved performance for flexible‐link arms. © 1994 John Wiley & Sons, Inc.