Observer based control for elastic joint robots

摘要

In this paper we present an approach to control elastic modes of the robot joints using only measurements of the variables on the rotor side of the transmission. First, a simple and robust observer is proposed to estimate link positions and velocities. The state estimates are used in a fast inner loop to damp oscillations in the joints. Simulations have shown good performance of the observer and the closed loop system in the presence of measurement noise and parameter uncertainties.