Presentation Details
Design of a Nonlinear Observer for a Very Flexible Parallel Robot
Thursday, 12 Oct 2017; 16:40 - 17:00 in room 7.02
In Session:
MS11-1: Modeling, Simulation, Control and Optimization of Multi-physical Phenomena (Show complete Mini Symposium)
Thursday, 12 Oct 2017; 16:00 - 18:00 in room 7.02
Show complete Session
Institute of Engineering and Computational Mechanics
University of Stuttgart
Stuttgart, Germany
Institute of Engineering and Computational Mechanics
University of Stuttgart
Stuttgart, Germany
Micro Abstract:
A flexible robot in lambda configuration has been modeled and built in hardware. Since there is no direct feedback of the end-effector, a nonlinear observer to estimate the position of the end-effector is designed and implemented. The nonlinear observer results show that the end-effector position can be estimated with high accuracy. Also, using results from the nonlinear observer, the model of the robot is improved so that the maximum end-effector absolute tracking error is drastically decreased.