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A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization

Författare:
Publiceringsår: 2007
Språk: Engelska
Dokumenttyp: Konferensbidrag

Sammanfattning

This paper addresses the problem of velocity reconstruction of robotic
systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction.

Disputation

Nyckelord

  • Technology and Engineering
  • friction compensation
  • velocity reconstruction
  • robotic systems
  • nonlinear observer

Övriga

7th IFAC Symposium on Nonlinear Control Systems (NOLCOS'07)
Pretoria, South Africa
Published
Yes

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