State estimation on flexible robots using accelerometers and angular rate sensors
Fast moving robots with elastic joints and/or elastic links require vibration suppression to achieve accuracy. We introduce a two-degrees-of-freedom control scheme (2DoF) consisting of a feedforward component based on the flatness approach and a classic feedback component, such as a PD motor joint control with additional link position error or joint torque error feedback. Such a control scheme requires knowledge of the full system state. We present an approach for state estimation using angular rate-and acceleration-sensors-mounted on each robot link-that can be used for any kind of elastic robot manipulator. We validate our theory by measuring a very fast trajectory and the influence of an external disturbance on an articulated robot with two flexible links and three joints. (C) 2012 Elsevier Ltd. All rights reserved.
state estimation flexible robot accelerometers angular rate sensors