By Topic

A reduced-order adaptive velocity observer for manipulator control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
M. Erlic ; Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada ; W. -S. Lu

In this paper a new manipulator joint velocity observer is presented. The observer is reduced in its order and it is adaptive with respect to unknown dynamic parameters. The velocity estimate produced by the observer is used in an adaptive controller for trajectory tracking. The result is locally asymptotically stable velocity observation errors and locally asymptotically stable position and velocity trajectory tracking errors. Simulations of the proposed scheme on the PUMA-560 show an improvement over a well known adaptive controller which obtains its joint velocity estimates via numerical differentiation experiments demonstrate the usefulness of the proposed observer

Published in:

IEEE Transactions on Robotics and Automation  (Volume:11 ,  Issue: 2 )