Design of a Real-Time State Observer for Joint Acceleration of a Robot Manipulator (KOBOKER)

In this paper, a real-time state observer (RT-SOB) is designed for the estimation of joint acceleration of a robot manipulator called KOBOKER(Korean Robot Worker). The proposed RT-SOB estimates the joint acceleration in real time fashion without using a sensor. The model is estimated based on input commanded current data and the output measured angle data in the discrete time domain. Then the model is used in the state observer to estimate the acceleration. The RT-SOB is simple and the estimated acceleration is not noisy. Experimental studies are conducted to demonstrate the performance. The estimated acceleration data are compared with the sensor data.