End-point sensing and state observation of a flexible-link robot

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)351-356
Journal / PublicationIEEE/ASME Transactions on Mechatronics
Volume6
Issue number3
Publication statusPublished - Sept 2001

Abstract

This paper presents an end-point sensor system and the development of an observer to reconstruct the states of a flexible-link robot. The sensor system includes a tip displacement sensor and an accelerometer. Based on the assumed-models method, an observer is developed using the Kalman filtering algorithm. Experimental results are given to demonstrate the effectiveness of the observer.

Research Area(s)

  • End-point sensing, Flexible link, Kalman filter, Observer, Robot