Abstract
Workspace disturbance observer was developed as further enhancement for the successful joint space observer. In its derivation it was assumed that the null space projector computation could be avoided. However limited performance has been reported for the workspace version. This work shows that the null space projector computation is essential for achieving the expected high performance in workspace. Experimental evaluation revealed the extra advantage of the workspace disturbance observer in terms of higher performance of the null space tasks.
Original language | English |
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Title of host publication | Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 9-14 |
Number of pages | 6 |
ISBN (Print) | 9781467375092 |
DOIs | |
Publication status | Published - 2015 Oct 13 |
Event | 17th International Conference on Advanced Robotics, ICAR 2015 - Istanbul, Turkey Duration: 2015 Jul 27 → 2015 Jul 31 |
Other
Other | 17th International Conference on Advanced Robotics, ICAR 2015 |
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Country | Turkey |
City | Istanbul |
Period | 15/7/27 → 15/7/31 |
ASJC Scopus subject areas
- Computer Vision and Pattern Recognition
- Electrical and Electronic Engineering
- Artificial Intelligence