Title :
A fuzzy-logic velocity observer for robotic manipulators
Author :
El Deeb, Y. ; Zaki, Ahmed S. ; El Maraghy, W.H.
Author_Institution :
Dept. of Mech. Eng., Univ. of Western Ontario, London, Ont., Canada
Abstract :
Estimating the velocity from position measurements is an important task for robotic manipulators. Due to the inherent nonlinearity of the system and its parameter variation, the need for an adaptive observer is justified. In this paper, a nonlinear observer is constructed using a fuzzy logic technique. Simulation results show good performance in estimating the velocity of the robot joints
Keywords :
adaptive control; fuzzy control; manipulator dynamics; nonlinear control systems; observers; velocity control; adaptive observer; fuzzy-logic velocity observer; inherent nonlinearity; nonlinear observer; parameter variation; position measurements; robot joints; robotic manipulators; Equations; Fuzzy logic; Manipulators; Noise level; Observers; Optical filters; Optical noise; Position measurement; Robots; Velocity measurement;
Conference_Titel :
Circuits and Systems, 1994., Proceedings of the 37th Midwest Symposium on
Conference_Location :
Lafayette, LA
Print_ISBN :
0-7803-2428-5
DOI :
10.1109/MWSCAS.1994.519066
