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Real-Time Estimation and Adaptive Control of Flexible Joint Space Manipulators

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Robot Motion and Control 2011

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 422))

Abstract

Most advanced trajectory tracking control laws for robot manipulators require a knowledge of all state variables. For lightweight flexible-joint space manipulators this objective is difficult to achieve since link positions are typically not measured. In this paper, an extended Kalman filter (EKF) observer to estimate all state variables of a manipulator system modeled with a nonlinear stiffness dynamics model is presented. In addition, it is shown that the observer can be modified in order to calibrate in real-time the sensor biases. The state variable estimates are coupled to a flexible joint adaptive controller to provide a complete closed-loop trajectory tracking solution. Simulation results show that the proposed solution provides satisfying tracking performance in a 12.6 ×12.6 m trajectory tracking scenario.

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Author information

Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON, K1S 5B6, Canada

    Steve Ulrich & Jurek Z. Sasiadek

Authors
  1. Steve Ulrich
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  2. Jurek Z. Sasiadek
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Corresponding author

Correspondence to Steve Ulrich .

Editor information

Editors and Affiliations

  1. , Institute of Control and Systems, Poznań University of Technology, ul. Piotrowo 3a, Poznań, 60-965, Poland

    Krzysztof Kozłowski

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Ulrich, S., Sasiadek, J.Z. (2012). Real-Time Estimation and Adaptive Control of Flexible Joint Space Manipulators. In: Kozłowski, K. (eds) Robot Motion and Control 2011. Lecture Notes in Control and Information Sciences, vol 422. Springer, London. https://doi.org/10.1007/978-1-4471-2343-9_18

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  • DOI: https://doi.org/10.1007/978-1-4471-2343-9_18

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-2342-2

  • Online ISBN: 978-1-4471-2343-9

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