DocumentCode
489563
Title
Manipulator Control with an Exponentially Stable Velocity Observer
Author
Erlic, Mile ; Lu, W.-S.
Author_Institution
Department of Electrical and Computer Engineering, University of Victoria, Victoria, British Columbia, Canada V8W 3P6
fYear
1992
fDate
24-26 June 1992
Firstpage
1241
Lastpage
1242
Abstract
In this paper, a reduced order manipulator velocity observer is presented. The observer is used to provide a smooth velocity estimate for a computed torque controller. By using a Lyapunov approach, it is shown that the modified computed torque controller is locally asymptotically stable for trajectory tracking. Experimental results obtained through implementation on the second and third link of the PUMA-560 agree strongly with the theory.
Keywords
Equations; Linear systems; Manipulator dynamics; Motion control; Noise level; PD control; State feedback; Torque control; Trajectory; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792295
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