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An extended Kalman filter for real-time estimation and control of a rigid-link flexible-joint manipulator / Chris A. Lightcap in IEEE Transactions on control systems technology, Vol. 18 N° 1 (Janvier 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 91-103 Titre : An extended Kalman filter for real-time estimation and control of a rigid-link flexible-joint manipulator Type de document : texte imprimé Auteurs : Chris A. Lightcap, Auteur ; Scott A. Banks, Auteur Année de publication : 2011 Article en page(s) : pp. 91-103 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive  control  Extended  Kalman  filtering  (EKF)  Flexible-joint  manipulators  Mitsubishi  PA  10-6CE Index. décimale : 629.1 Résumé : Maximizing the tracking performance of an industrial manipulator requires an accurate expression of manipulator dynamics and efficient model parameterization. These objectives are difficult to achieve in manipulators with flexible joints since link positions typically are not measured. We present in this paper an extended Kalman filter (EKF) observer to estimate manipulator states and couple these estimates to an adaptive rigid-link flexible-joint (RLFJ) controller. In a computer simulation, the EKF-RLFJ controller demonstrated superior tracking performance compared to a traditional adaptive controller. Experimental results for the Mitsubishi PA10-6CE showed improvements in tracking performance using the EKF-RLFJ controller with a 5 kg end-effector payload. Even greater improvements in tracking performance may be achieved in manipulators with significant joint flexibility. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5071189 [article] An extended Kalman filter for real-time estimation and control of a rigid-link flexible-joint manipulator [texte imprimé] / Chris A. Lightcap, Auteur ; Scott A. Banks, Auteur . - 2011 . - pp. 91-103. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 91-103 Mots-clés : Adaptive  control  Extended  Kalman  filtering  (EKF)  Flexible-joint  manipulators  Mitsubishi  PA  10-6CE Index. décimale : 629.1 Résumé : Maximizing the tracking performance of an industrial manipulator requires an accurate expression of manipulator dynamics and efficient model parameterization. These objectives are difficult to achieve in manipulators with flexible joints since link positions typically are not measured. We present in this paper an extended Kalman filter (EKF) observer to estimate manipulator states and couple these estimates to an adaptive rigid-link flexible-joint (RLFJ) controller. In a computer simulation, the EKF-RLFJ controller demonstrated superior tracking performance compared to a traditional adaptive controller. Experimental results for the Mitsubishi PA10-6CE showed improvements in tracking performance using the EKF-RLFJ controller with a 5 kg end-effector payload. Even greater improvements in tracking performance may be achieved in manipulators with significant joint flexibility. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5071189