کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5004811 | 1368995 | 2014 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
GPI based velocity/force observer design for robot manipulators
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
In many applications involving a robot in contact with a surface it is important to control the interaction between the manipulator and its environment, usually by employing force sensors. However, sometimes it is desirable to remove them due to a variety of reasons, e.g. high costs, noisy measurements and a narrow bandwidth. To overcome these drawbacks, in this work it is proposed as a velocity/force observer based on the Generalized Proportional Integral (GPI) technique. Joint velocities and contact forces are estimated with only position measurements and then used in a force/position control scheme. Ultimate boundedness of the observation errors is formally proven and an arbitrarily small ultimate bound is then achieved. Simulation results are used to validate the proposed approach.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 53, Issue 4, July 2014, Pages 929-938
Journal: ISA Transactions - Volume 53, Issue 4, July 2014, Pages 929-938
نویسندگان
Alejandro Gutiérrez-Giles, Marco A. Arteaga-Pérez,