Velocity/Force Observer Design for Robot Manipulators

被引：0
|
作者：
Gutierrez-Giles, Alejandro [1 ]
Arteaga-Perez, Marco A. [1 ]
机构：
[1] Univ Nacl Autonoma Mexico, Fac Ingn, DIE, Dept Control & Robot, Mexico City 04510, DF, Mexico
来源：
2013 18TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2013年
关键词：
COOPERATIVE ROBOTS; FORCE;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：730 / 735
页数：6
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