Faculty of Engineering, Glasgow G12 8QQ, Scotland
Technical Report CSC-95004
TITLE: Design and Implementation of a Bond Graph Observer for Robot Control
AUTHORS: D.W.Roberts, D.J. Ballance and P.J. Gawthrop
Keywords: Robots, modeling, bond graphs, state estimation, position control
In robotics, high-precision measurements of link positions are available for feedback control but tachometer measurements of link velocities are often severely contaminated by noise. This paper presents the use of a bond graph model-based non-linear observer to estimate the velocities in the control of an experimental two-link manipulator. A significant advantage of this approach is that the observer software may be written automatically from the bond graph observer representation. Results are presented in simulation form and for practical implementation on the experimental arm.
This report is in the following formats: