INVESTIGADORES
PULESTON Pablo Federico
artículos
Título:
A Reduced Order Observer for Velocity Estimation of N-Link Manipulators
Autor/es:
J.A.SOLSONA; PULESTON P.F.
Revista:
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
Editorial:
ACTA PRESS
Referencias:
Año: 2000 vol. 15 p. 51 - 55
ISSN:
0826-8185
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 designing criterion is proposed.
Simulation results using a two-link manipulator model are presented.
