INVESTIGADORES
CHIACCHIARINI Hector Gerardo
congresos y reuniones científicas
Título:
AN OBSERVER-BASED FEEDFORWARD/FEEDBACK CONTROLLER FOR ROBOTIC MANIPULATORS
Autor/es:
SOLSONA JORGE; CHIACCHIARINI HÉCTOR; BUSADA CLAUDIO; OLIVA ALEJANDRO
Lugar:
Córdoba
Reunión:
Congreso; IV Jornadas Argentinas de Robótica; 2006
Institución organizadora:
UTN
Resumen:
This paper presents a nonlinear control strategy for robotic manipulators. The controller combines a nonlinear feedback law with a feedforward one. In order to reduce the number of sensors a nonlinear observer is used to estimate both states and disturbances from measured variables. In this way, an observer-based feedback/feedforward controller is designed. The proposed controller is applied to a two-link manipulator for illustrating its performance.
