Observability of a Flexible Manipulator with a Payload

摘要

A control system describing the dynamics of a flexible-link robot manipulator is considered. Observability conditions are derived for the output signal as the raising angle and the strain at a fixed point of the manipulator. An explicit procedure for observer design is proposed based on the Barbashin-Krasovskii-LaSalle invariance principle. This result justifies a possibility of implementing the state feedback controller obtained in [22].