Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor

Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor

In this paper, we consider the state estimation problem for flexible joint manipulators that involve nonlinear characteristics in their stiffness. The two key ideas of our design are that (a) an accelerometer is used in order that the estimation error dynamics do not depend on nonlinearities at the...

Full description

Bibliographic Details
Main Authors: Kyung-Tae Nam, Seung-Joon Lee, Tae-Yong Kuc, Hyungjong Kim
Format: Article
Language:English
Published: MDPI AG 2015-12-01
Series:Sensors
Subjects:
flexible joint manipulators
state estimation
acceleration
nonlinear stiffness
Lipschitz constant
FPD transfer robot
Online Access:http://www.mdpi.com/1424-8220/16/1/49

Internet

http://www.mdpi.com/1424-8220/16/1/49

Similar Items