DocumentCode :
306258
Title :
Velocity estimation by digital filtering of position data to process adaptive control laws for robotics manipulators
Author :
Alonge, F. ; Raimondi, T. ; D´Ippolito, Filippo
Author_Institution :
Fac. of Eng., Palermo Univ., Italy
Volume :
1
fYear :
1996
fDate :
5-10 Aug 1996
Firstpage :
208
Abstract :
This paper deals with the study of some estimation methods of velocity using only position data, with the particular aim of processing adaptive control laws for robotic manipulators so that the harmonic content of the mechanical torques developed at the joints be reduced and the position errors be sufficiently small when trajectory tracking is the specific task. Moving average filters and least square filters are, first of all, reviewed and then a new method is discussed which is suitable for velocity estimation in closed loop control systems specifically designed for the tracking of trajectories. Experiments, carried out on a closed loop control system consisting of a planar manipulator and an adaptive controller which uses velocity data obtained by applying above methods, are described
Keywords :
adaptive control; closed loop systems; control system analysis; control system synthesis; digital filters; filtering theory; manipulators; parameter estimation; velocity control; adaptive controller; closed loop control system; control design; control simulation; least square filters; moving average filters; planar manipulator; position data; robotics manipulators; trajectory tracking; velocity estimation; Adaptive control; Control systems; Digital filters; Error correction; Filtering; Manipulators; Power harmonic filters; Robots; Trajectory; Velocity control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
Type :
conf
DOI :
10.1109/IECON.1996.570954
Filename :
570954
Link To Document :
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