DocumentCode
646585
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
fYear
2013
fDate
26-29 Aug. 2013
Firstpage
730
Lastpage
735
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MMAR.2013.6670003
Filename
6670003
Link To Document