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
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;
Conference_Titel :
Electrical and Computer Engineering, 1999 IEEE Canadian Conference on
Conference_Location :
Edmonton, Alberta, Canada
Print_ISBN :
0-7803-5579-2
DOI :
10.1109/CCECE.1999.804913
