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A Complementary Estimation Scheme of Angular Accelerations for Robot Manipulators under Slow Sampling Rates

机译：慢采样率下机器人机械手角加速度的互补估计方案

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摘要

An accurate estimation of angular acceleration signals for robot manipulators is necessary for the improved control performance. In this paper, a complementary estimation method for angular acceleration of robot manipulators under slow sampling rates is proposed. Based on the data-driven system model, a state observer is constructed to estimate acceleration signals, which require fast sampling rates to improve the performance. Since a linear model-based state observer with slow sampling time undergoes low-frequency sensitivity, a complementary scheme combining the finite difference approach and the state observer approach together is proposed. By fusing them, we could obtain an improved estimation of angular acceleration signals with low-frequency robustness.
机译：为了改善控制性能，需要准确估计机器人操纵器的角加速度信号。提出了一种在慢采样率下机器人机械臂角加速度的补充估计方法。基于数据驱动的系统模型，构造了一个状态观察器来估计加速度信号，这需要快速采样率来提高性能。由于采样时间较慢的基于线性模型的状态观测器会受到低频灵敏度的影响，因此提出了一种将有限差分法和状态观测器法结合在一起的互补方案。通过融合它们，我们可以获得具有低频鲁棒性的改进的角加速度信号估计。

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