Design of a RLS-Based Real-Time State Observer for Estimating Joint Accelerations and Inertias of a Robot Manipulator

In this paper, a RLS-based real-time state observer for a robot manipulator is designed. The availability of both the inertial mass and acceleration information in real time provides control efficiency to design robust control methods such as time-delayed control. Since it is difficult to model the inertia and to measure the acceleration accurately, an RLS-based joint model observer (RLS-SOB) is designed to estimate the inertial mass of each joint as well as angular acceleration in real time as the configuration of 2 ^nd order linear model. The proposed method is empirically verified for a robot manipulator.