DocumentCode
3318798
Title
Computed torque control of robots without joint velocity measurements
Author
Gourdeau, Richard ; Blouin, Stéphane ; Hurteau, Richard
Author_Institution
Dept. de Math. et de Genie Ind., Ecole Polytech., Montreal, Que., Canada
Volume
3
fYear
1999
fDate
9-12 May 1999
Firstpage
1413
Abstract
We present a robot motion controller that does not require velocity measurements. This controller combines an observer with the computed torque method. The stability of the resulting scheme is shown. The computational simplicity of the scheme is one of its advantages. Experimental results are presented to illustrate the performance of the scheme when measurement noise is present.
Keywords
motion control; observers; robots; stability; torque control; computed torque control; experimental results; joint velocity measurements; measurement noise; observer; robot motion controller; stability; Chemical engineering; Manipulator dynamics; Noise measurement; Position measurement; Service robots; Stability; Symmetric matrices; Torque control; Torque measurement; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Computer Engineering, 1999 IEEE Canadian Conference on
Conference_Location
Edmonton, Alberta, Canada
ISSN
0840-7789
Print_ISBN
0-7803-5579-2
Type
conf
DOI
10.1109/CCECE.1999.804913
Filename
804913
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