Enhanced null space control using hierarchical workspace disturbance observer

Mohamed Sorour; Toshiyuki Murakami

doi:10.1109/ICAR.2015.7251426

Enhanced null space control using hierarchical workspace disturbance observer

Mohamed Sorour, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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
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	https://doi.org/10.1109/ICAR.2015.7251426
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
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

Access to Document

10.1109/ICAR.2015.7251426

Cite this

Sorour, M., & Murakami, T. (2015). Enhanced null space control using hierarchical workspace disturbance observer. In Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015 (pp. 9-14). [7251426] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAR.2015.7251426

Sorour, M & Murakami, T 2015, Enhanced null space control using hierarchical workspace disturbance observer. in Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015., 7251426, Institute of Electrical and Electronics Engineers Inc., pp. 9-14, 17th International Conference on Advanced Robotics, ICAR 2015, Istanbul, Turkey, 15/7/27. https://doi.org/10.1109/ICAR.2015.7251426

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