Nonlinear Discrete Observer for Flexibility Compensation of Industrial Robots

Abstract

This paper demonstrates the solutions of digital observer implementation for industrial applications. A nonlinear high-gain discrete observer is proposed to compensate the tracking error due to the flexibility of robot manipulators. The proposed discrete observer is obtained by using Euler approximate discretization of the continuous observer. A series of experimental validations have been carried out on a 6 DOF industrial manipulator during a Friction Stir Welding process. The results showed good performance of discrete observer and the observer based compensation has succeed to correct the positioning error in real-time implementation.