ICRA 2011 Paper Abstract


Paper TuP206.5

Post, Brian (Georgia Institute of Technology), Book, Wayne (Georgia Institute of Technology)

A Robust Nonlinear Observation Strategy for the Control of Flexible Manipulators

Scheduled for presentation during the Regular Sessions "Robust/Adaptive Control of Robotic Systems" (TuP206), Tuesday, May 10, 2011, 16:25−16:40, Room 5A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Motion Control of Manipulators, Robust/Adaptive Control of Robotic Systems, Industrial Robots


Flexibility is often an unavoidable consequence of the desire for high speed and performance manipulators. This paper proposes a method that improves the performance of flexible manipulators through the employment of robust state estimation techniques. These techniques are based on discrete time Kalman filtering and sliding mode principles. A simple model for a single degree of freedom flexible manipulator is derived and a control scheme is chosen and implemented. The latter includes a robust non-linear estimator. Simulation and preliminary experimental results are presented that demonstrate the validity of the proposed control scheme.



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