Abstract: “A nonlinear robot plant that incorporates robot manipulator dynamics as well as implementation of observer to estimate unmeasured states is proposed in this paper. The robot manipulator operates in the robot task space in lifting the object at a defined place and at a specified angle. Computer simulations are performed to verify feasibility of robot manipulator along with the implemented observer. The experiments show that the proposed work produces good tracking performances in estimating the states yielding conspicuously improved performance. Computationally this method is very elegant.”

Keywords: Robotic Arm, Manipulator, State Feedback Control, Multiple Integrator, Forward Kinematics, Lagrangian, Reduced-order Observer, Generalized Matrix Inverse, Luenberger Observer, Das & Ghosal Observer.