West Pomeranian University of Technology Szczecin - Velocity/force observer design for robot manipulators

2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR)

Author(s): Alejandro Gutierrez-Giles ; Marco A. Arteaga-Perez
Sponsor(s): IEEE Control Syst. Soc.
Publisher: West Pomeranian University of Technology Szczecin
Publication Date: 1 August 2013
Conference Location: Miedzyzdroje, Poland
Conference Date: 26 August 2013
Page(s): 730 - 735
ISBN (CD): 978-1-4673-5507-0
ISBN (Electronic): 978-1-4673-5508-7
ISBN (Paper): 978-1-4673-5506-3
DOI: 10.1109/MMAR.2013.6670003

In this paper, the design of a velocity/force observer for robot manipulators in constrained movement is studied. For this purpose, Generalized Proportional Integral Observers are employed.... View More