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

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

24 Scopus Citations
View graph of relations



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


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