USING THE HIGH GIAN OBSERVER (HGO) OF FLEXIBLE LINK MANIPULATOR

Abstract

This paper addresses problem of building up a high gain observer joint angle estimation for the industrial manipulator joints with link flexible and use it as a feedback signal. Then coordinate the Input - Output controller use the high gain observer joint angle estimation for the industrial manipulator joints with link flexible. The simulation using Matlab/Simulink software and experiment results with a single link flexible indicates the transmission couplings with a single link flexible has met the desired control: ensure the system is non-oscillation,the response of the reference load position tracking closely to the load position so error is small.