Title :
Velocity/force observer design for robot manipulators
Author :
Gutierrez-Giles, Alejandro ; Arteaga-Perez, Marco A.
Author_Institution :
Dept. de Control y Robot., Univ. Nac. Autonoma de Mexico., Mexico City, Mexico
Abstract :
In this paper, the design of a velocity/force observer for robot manipulators in constrained movement is studied. For this purpose, Generalized Proportional Integral Observers are employed. Ultimate boundedness of observation errors is guaranteed, while the ultimate bound can be made arbitrarily small. Simulation results are presented to validate the performance of the proposed approach.
Keywords :
PI control; manipulators; observers; constrained movement; force observer design; generalized proportional integral observers; observation errors; robot manipulators; velocity observer design; Dynamics; Force; Joints; Manipulators; Observers; Vectors;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4673-5506-3
DOI :
10.1109/MMAR.2013.6670003
