A reduced-order observer for velocity estimation of N-link manipulators

Solsona, Jorge Alberto; Puleston, Pablo Federico

Artículos de revistas

Fecha

2000-01

Registro en:

Solsona, Jorge Alberto; Puleston, Pablo Federico; A reduced-order observer for velocity estimation of N-link manipulators; Acta Press; International Journal Of Robotics & Automation; 15; 1; 1-2000; 51-55

0826-8185

http://hdl.handle.net/11336/56820

1925-7090

CONICET Digital

CONICET

http://repositorioslatinoamericanos.uchile.cl/handle/2250/1877542

Autor

Solsona, Jorge Alberto

Puleston, Pablo Federico

Institución

Consejo Nacional de Investigaciones Científicas y Tecnológicas (Argentina)

Resumen

An exponentially nonlinear reduced-order observer for robot manipulators is developed. Velocity estimation of N-link manipulators is performed by integrating only N differential equations. Consequently, computational effort is reduced. Convergence is investigated, and a design criterion is proposed. Simulation results using a two-link manipulator model are presented.

Materias

Reduced Order Observer

robotic manipulator

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