| Title |
Design of Nonlinear Observer for Flexible Joint Manipulator with Nonlinear Stiffness Based on Acceleration |
| Authors |
이승준(Lee, Seung-Joon) ; 김형종(Kim, Hyungjong) ; 남경태(Nam, Kyung-Tae) ; 국태용(Kuc, Tai-Young) |
| DOI |
https://doi.org/10.5370/KIEE.2015.64.3.451 |
| Keywords |
Flexible Joint Manipulator ; Acceleration ; Nonlinear Stiffness ; Nonlinear Observer ; Lipschitz Condition |
| Abstract |
In this paper, we consider the observer design problem that truly reflects the nonlinear stiffness of the manipulators. The two key ideas of our design are that (a) estimation error dynamics of the manipulator equipped with accelerometer dose not dependent on nonlinearities at the link part, when the measured signals are the motor position and the output of the accelerometer and (b) the nonlinear stiffness is indeed a Lipschitz function. In order to effectively compensate the nonlinear stiffness, the gain of the proposed observer is carefully chosen from the ARE(algebraic Riccati equations) which depend on Lipschitz constant. Comparative simulation result verifies the effectiveness of the proposed solution. |