IEEE - Institute of Electrical and Electronics Engineers, Inc. - A high-gain observer-based PD control for robot manipulator

Proceedings of 2000 American Control Conference (ACC 2000)

Author(s): Heredia, J.A. ; Wen Yu
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2000
Conference Location: Chicago, IL, USA
Conference Date: 28 June 2000
Volume: 4
ISBN (Paper): 0-7803-5519-9
ISSN (Paper): 0743-1619
DOI: 10.1109/ACC.2000.878637
Regular:

In this paper, the popular PD control of robot manipulator is modified. A high-gain observer is proposed for the estimation of the velocity. The main contributions of this paper are: (1) By means... View More

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