earticle

영어

Flexible manipulators active vibration control has been subject to a large number of research papers due to its high potential for industrial applications. However, this approach generally requires the feedback of state variables that are not always available via direct measurements. The present study proposes a state estimation scheme for a nonlinear one – link flexible manipulator based on the Extended Kalman Filter. First, the flexible manipulator, seen as an Euler-Bernoulli cantilever beam, is modeled using The Hamilton’s principle, the elastic movement is approximated using the assumed modes method and the system non linear equations are introduced and converted into the matrix form. Then, the observability of the system is proven and the Extended Kalman Filter scheme is detailed. This article compares, via the numerical simulation results included, the efficiency of the state estimate, reflected by the estimation error and the time required by the filter to converge, relatively to the assumptions on the available measurements.