Design of a RLS-Based Real-Time State Observer for Estimating Joint Accelerations and Inertias of a Robot Manipulator

被引：0
作者：
Lee, S. D. [1 ]
Jung, S. [1 ]
机构：
[1] Chungnam Natl Univ, Mechatron Engn Dept, Daejeon 34134, South Korea
来源：
2019 7TH INTERNATIONAL CONFERENCE ON ROBOT INTELLIGENCE TECHNOLOGY AND APPLICATIONS (RITA) | 2019年
基金：
新加坡国家研究基金会;
关键词：
RECURSIVE-LEAST-SQUARES;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a RLS-based real-time state observer for a robot manipulator is designed. The availability of both the inertial mass and acceleration information in real time provides control efficiency to design robust control methods such as time-delayed control. Since it is difficult to model the inertia and to measure the acceleration accurately, an RLS-based joint model observer (RLS-SOB) is designed to estimate the inertial mass of each joint as well as angular acceleration in real time as the configuration of 2nd order linear model. The proposed method is empirically verified for a robot manipulator.
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页码：164 / 167
页数：4
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