Experimental validation of asymptotic observers for robotic manipulators

Abstract

A simple asymptotic observer is proposed for the estimation of the generalized velocities of a robotic manipulator. Singular perturbation theory is used in the stability analysis of the error dynamics. High gains are used in the cancellation of the nonlinearities characterizing the dynamic behavior of the robot. The accuracy of the proposed algorithm is illustrated in simulation runs and verified through some experimental tests.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>