A nonlinear observer for a flexible robot arm and its use in fault and collision detection

Claudio Gaz; Andrea Cristofaro; Pasquale Palumbo; Alessandro De Luca

doi:10.1109/CDC51059.2022.9993103

A nonlinear observer for a flexible robot arm and its use in fault and collision detection

Claudio Gaz
, Andrea Cristofaro
, Pasquale Palumbo
, Alessandro De Luca

University of Rome La Sapienza
University of Milan - Bicocca

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Abstract

A nonlinear observer is presented for the estimation of the joint velocities and of the deformation modes and their rates for a two-link flexible robot arm, using only motor encoders and a tip position sensor. The state observer can be used then for trajectory tracking control. By monitoring the mismatch between measured and estimated outputs, we can also detect the occurrence of permanent or intermittent system anomalies such as actuator faults or link collisions.

Original language	English
Title of host publication	2022 IEEE 61st Conference on Decision and Control (CDC)
Place of Publication	Piscataway, U.S.
Publisher	IEEE
Pages	738-743
ISBN (Electronic)	9781665467612
DOIs	https://doi.org/10.1109/CDC51059.2022.9993103
Publication status	Published - 10 Jan 2023
Event	61st IEEE Conference on Decision and Control - Canc├║n, Mexico Duration: 6 Dec 2022 → 9 Dec 2022

Publication series

Name	IEEE Conference on Decision and Control
Publisher	IEEE
ISSN (Electronic)	2576-2370

Conference

Conference	61st IEEE Conference on Decision and Control
Period	6/12/22 → 9/12/22

Bibliographical note

Organising Body: IEEE

Keywords

Computer science and informatics

Access to Document

10.1109/CDC51059.2022.9993103

Gaz-C-52148-AAMAccepted author manuscript, 1.16 MBLicence: Unspecified

Cite this

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title = "A nonlinear observer for a flexible robot arm and its use in fault and collision detection",

abstract = "A nonlinear observer is presented for the estimation of the joint velocities and of the deformation modes and their rates for a two-link flexible robot arm, using only motor encoders and a tip position sensor. The state observer can be used then for trajectory tracking control. By monitoring the mismatch between measured and estimated outputs, we can also detect the occurrence of permanent or intermittent system anomalies such as actuator faults or link collisions.",

keywords = "Computer science and informatics",

author = "Claudio Gaz and Andrea Cristofaro and Pasquale Palumbo and \{De Luca\}, Alessandro",

note = "Organising Body: IEEE; 61st IEEE Conference on Decision and Control ; Conference date: 06-12-2022 Through 09-12-2022",

year = "2023",

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day = "10",

doi = "10.1109/CDC51059.2022.9993103",

language = "English",

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Gaz, C, Cristofaro, A, Palumbo, P & De Luca, A 2023, A nonlinear observer for a flexible robot arm and its use in fault and collision detection. in 2022 IEEE 61st Conference on Decision and Control (CDC). IEEE Conference on Decision and Control, IEEE, Piscataway, U.S., pp. 738-743, 61st IEEE Conference on Decision and Control, 6/12/22. https://doi.org/10.1109/CDC51059.2022.9993103

A nonlinear observer for a flexible robot arm and its use in fault and collision detection. / Gaz, Claudio; Cristofaro, Andrea; Palumbo, Pasquale et al.
2022 IEEE 61st Conference on Decision and Control (CDC). Piscataway, U.S.: IEEE, 2023. p. 738-743 (IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Cristofaro, Andrea

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AU - De Luca, Alessandro

N1 - Organising Body: IEEE

PY - 2023/1/10

Y1 - 2023/1/10

N2 - A nonlinear observer is presented for the estimation of the joint velocities and of the deformation modes and their rates for a two-link flexible robot arm, using only motor encoders and a tip position sensor. The state observer can be used then for trajectory tracking control. By monitoring the mismatch between measured and estimated outputs, we can also detect the occurrence of permanent or intermittent system anomalies such as actuator faults or link collisions.

AB - A nonlinear observer is presented for the estimation of the joint velocities and of the deformation modes and their rates for a two-link flexible robot arm, using only motor encoders and a tip position sensor. The state observer can be used then for trajectory tracking control. By monitoring the mismatch between measured and estimated outputs, we can also detect the occurrence of permanent or intermittent system anomalies such as actuator faults or link collisions.

KW - Computer science and informatics

U2 - 10.1109/CDC51059.2022.9993103

DO - 10.1109/CDC51059.2022.9993103

M3 - Conference contribution

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EP - 743

BT - 2022 IEEE 61st Conference on Decision and Control (CDC)

PB - IEEE

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T2 - 61st IEEE Conference on Decision and Control

Y2 - 6 December 2022 through 9 December 2022

ER -

A nonlinear observer for a flexible robot arm and its use in fault and collision detection

Abstract

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Bibliographical note

Keywords

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