基于rls的机器人关节加速度和惯量实时状态观测器的设计

2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) Pub Date : 2019-11-01 DOI:10.1109/RITAPP.2019.8932860

Sangdeok Lee, Seul Jung

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引用次数: 0

摘要

本文设计了一种基于rls的机械臂实时状态观测器。惯性质量和加速度信息的实时可用性为设计时滞控制等鲁棒控制方法提供了控制效率。针对惯性建模和加速度精确测量的困难，设计了一种基于rls的关节模型观测器(RLS-SOB)，作为二阶线性模型的构型，实时估计各关节的惯性质量和角加速度。以机器人为例，验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

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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2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA)

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