A reduced-order observer for velocity estimation of N-link manipulators

Autores
Solsona, Jorge Alberto; Puleston, Pablo Federico
Año de publicación
2000
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
An exponentially nonlinear reduced-order observer for robot manipulators is developed. Velocity estimation of N-link manipulators is performed by integrating only N differential equations. Consequently, computational effort is reduced. Convergence is investigated, and a design criterion is proposed. Simulation results using a two-link manipulator model are presented.
Fil: Solsona, Jorge Alberto. Universidad Nacional de la Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial, Control e Instrumentación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Puleston, Pablo Federico. Universidad Nacional de la Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial, Control e Instrumentación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
Reduced Order Observer
Robotic Manipulator
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/56820
Acceder
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network_name_str CONICET Digital (CONICET)
spelling A reduced-order observer for velocity estimation of N-link manipulatorsSolsona, Jorge AlbertoPuleston, Pablo FedericoReduced Order ObserverRobotic Manipulatorhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2An exponentially nonlinear reduced-order observer for robot manipulators is developed. Velocity estimation of N-link manipulators is performed by integrating only N differential equations. Consequently, computational effort is reduced. Convergence is investigated, and a design criterion is proposed. Simulation results using a two-link manipulator model are presented.Fil: Solsona, Jorge Alberto. Universidad Nacional de la Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial, Control e Instrumentación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Puleston, Pablo Federico. Universidad Nacional de la Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial, Control e Instrumentación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaActa Press2000-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/56820Solsona, Jorge Alberto; Puleston, Pablo Federico; A reduced-order observer for velocity estimation of N-link manipulators; Acta Press; International Journal Of Robotics & Automation; 15; 1; 1-2000; 51-550826-81851925-7090CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://www.actapress.com/Content_Of_Journal.aspx?JournalID=62info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-11-12T09:47:20Zoai:ri.conicet.gov.ar:11336/56820instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-11-12 09:47:20.439CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A reduced-order observer for velocity estimation of N-link manipulators
title A reduced-order observer for velocity estimation of N-link manipulators
spellingShingle A reduced-order observer for velocity estimation of N-link manipulators
Solsona, Jorge Alberto
Reduced Order Observer
Robotic Manipulator
title_short A reduced-order observer for velocity estimation of N-link manipulators
title_full A reduced-order observer for velocity estimation of N-link manipulators
title_fullStr A reduced-order observer for velocity estimation of N-link manipulators
title_full_unstemmed A reduced-order observer for velocity estimation of N-link manipulators
title_sort A reduced-order observer for velocity estimation of N-link manipulators
dc.creator.none.fl_str_mv Solsona, Jorge Alberto
Puleston, Pablo Federico
author Solsona, Jorge Alberto
author_facet Solsona, Jorge Alberto
Puleston, Pablo Federico
author_role author
author2 Puleston, Pablo Federico
author2_role author
dc.subject.none.fl_str_mv Reduced Order Observer
Robotic Manipulator
topic Reduced Order Observer
Robotic Manipulator
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv An exponentially nonlinear reduced-order observer for robot manipulators is developed. Velocity estimation of N-link manipulators is performed by integrating only N differential equations. Consequently, computational effort is reduced. Convergence is investigated, and a design criterion is proposed. Simulation results using a two-link manipulator model are presented.
Fil: Solsona, Jorge Alberto. Universidad Nacional de la Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial, Control e Instrumentación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Puleston, Pablo Federico. Universidad Nacional de la Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial, Control e Instrumentación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description An exponentially nonlinear reduced-order observer for robot manipulators is developed. Velocity estimation of N-link manipulators is performed by integrating only N differential equations. Consequently, computational effort is reduced. Convergence is investigated, and a design criterion is proposed. Simulation results using a two-link manipulator model are presented.
publishDate 2000
dc.date.none.fl_str_mv 2000-01
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/56820
Solsona, Jorge Alberto; Puleston, Pablo Federico; A reduced-order observer for velocity estimation of N-link manipulators; Acta Press; International Journal Of Robotics & Automation; 15; 1; 1-2000; 51-55
0826-8185
1925-7090
CONICET Digital
CONICET
url http://hdl.handle.net/11336/56820
identifier_str_mv Solsona, Jorge Alberto; Puleston, Pablo Federico; A reduced-order observer for velocity estimation of N-link manipulators; Acta Press; International Journal Of Robotics & Automation; 15; 1; 1-2000; 51-55
0826-8185
1925-7090
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.actapress.com/Content_Of_Journal.aspx?JournalID=62
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Acta Press
publisher.none.fl_str_mv Acta Press
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1848597941576531968
score 12.976206

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