Title :
State estimation of a SCARA Robot using sliding mode observers
Author :
Latifa Boutat-Baddas;Harouna Souley Ali;Mohamed Darouach
Author_Institution :
Centre de Recherche en Automatique de Nancy (CRAN-UMR 7039), Université
fDate :
7/1/2015 12:00:00 AM
Abstract :
In this paper a new method of designing a sliding mode observer for SCARA robot is proposed. This method is based on the construction of the singularity subspaces. The algorithm for estimating position and speed of the considered robotic manipulator is presented. Simulation results confirm the validity of our approach.
Keywords :
"Observers","Observability","Nonlinear systems","Robot kinematics","Manipulator dynamics"
Conference_Titel :
Control Conference (ECC), 2015 European
DOI :
10.1109/ECC.2015.7330805
