• DocumentCode
    3693342
  • 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
  • fYear
    2015
  • fDate
    7/1/2015 12:00:00 AM
  • Firstpage
    1836
  • Lastpage
    1841
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 2015 European
  • Type

    conf

  • DOI
    10.1109/ECC.2015.7330805
  • Filename
    7330805
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3693342