Design and implementation of a bond-graph observer for robot control

Abstract In robotics, high-precision measurements of link positions are available for feedback control but tachometer measurements of link velocities are often severely contaminated by noise. This paper presents the use of a bond-graph model-based nonlinear observer to estimate the velocities in the control of an experimental two-link manipulator. A significant advantage of this approach is that the observer software may be written automatically from the bond-graph observer representation. Results are presented in simulation form, and for practical implementation on the experimental arm.

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