This page shows all publications that appeared in the IASI annual research reports. Authors currently affiliated with the Institute are always listed with the full name.

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Show all publications of the year  1996, with author Germani A., in the category IASI Research Reports (or show them all):

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IASI Research Report n. 432   


Germani A., Manes C.

Robot trajectory tracking via nonlinear state estimation

ABSTRACT

In this paper an observer for nonlinear systems is applied to estimate joint velocities in a rigid robot in which only position measures are available. First the local exponential convergence of the observed state to the actual one is proved, provided that both the robot state and the torque input are bounded. Next, the use of the estimated velocity in a computed-torque scheme for trajectory tracking is illustrated. The local exponential stability of the observer-controller cascade can be proved under the assumption that the reference trajectory is bounded. The main advantage of this approach for trajectory tracking without velocity measures is its simplicity. In particular, differently from other techniques, the robot model in symbolic form is not necessary and inverse dynamics is computed only one time at each control step. Simulation results demonstrate the validity of the approach.