Title :
Integration of manipulator joint sensor information for robust robot control
Author :
Hashimoto, Mime ; Paul, R.P.
Author_Institution :
University of Pennsylvania, Philadelphia
Abstract :
In the present paper, we propose a method which efficiently uses multi-sensor information to obtain a more precise description of joint position and velocity and allows for a robust control system free from the affects of spurious sensor observation and impervious to single sensor failure. Simulation results demonstrate that the techniques works well.
Keywords :
Control systems; Delay effects; Information science; Manipulators; Robot control; Robot sensing systems; Robust control; Sensor systems; Testing; Velocity control;
Conference_Titel :
Decision and Control, 1987. 26th IEEE Conference on
Conference_Location :
Los Angeles, California, USA
DOI :
10.1109/CDC.1987.272910
