NONLINEAR OBSERVER DESIGN FOR ROBOT MANIPULATORS. A Survey

摘要

This paper deals with the nonlinear observation theory as it is applied to the class of rigid robot manipulator systems. A survey based on results and design approaches of nonlinear observers for this class of nonlinear systems is presented. We cannot make an analytic comparative study of the proposed methods since they are conceptually different. However, we try to provide the reader insight into the performance of each method based on experimental results found in literature, and through simulation analysis on a 2-DOF-robot.