IEEE - Institute of Electrical and Electronics Engineers, Inc. - Velocity and disturbance observer for non-model based load and friction compensation

AMC '08. 10th International Workshop on Advanced Motion Control

Author(s): G. Palli ; C. Melchiorri
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 March 2008
Conference Location: Trento, Italy
Conference Date: 26 March 2008
Page(s): 194 - 199
ISBN (CD): 978-1-4244-1703-2
ISBN (Paper): 978-1-4244-1702-5
DOI: 10.1109/AMC.2008.4516065
Regular:

In this paper, a scheme for the simultaneous estimation of the external forces acting on a rigid body together with its velocity is presented. This estimation scheme is based only on the knowledge... View More

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