Digital implementation of an observer-based control for a rigid robot

In this paper, we present a digital implementation of an observer-based controller, using a simple forward Euler discretization scheme, for a rigid robot. The observer used here is the one given in [2] with a slight change in the gain so as to incorporate part of the nonlinearity. In so doing, the high-gain property of the observer is lessened to some extent. A comparison of the convergence is presented when this modified observer and a purely high-gain observer is utilized. It is shown that the transient oscillations, which occur when using a purely high-gain observer, are considerably diminished by using the modified observer.